lib/main/MAVLink/common/mavlink_msg_utm_global_position.h

   1 #pragma once
   2 // MESSAGE UTM_GLOBAL_POSITION PACKING
   3
   4 #define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION 340
   5
   6
   7 typedef struct __mavlink_utm_global_position_t {
   8  uint64_t time; /*< [us] Time of applicability of position (microseconds since UNIX epoch).*/
   9  int32_t lat; /*< [degE7] Latitude (WGS84)*/
  10  int32_t lon; /*< [degE7] Longitude (WGS84)*/
  11  int32_t alt; /*< [mm] Altitude (WGS84)*/
  12  int32_t relative_alt; /*< [mm] Altitude above ground*/
  13  int32_t next_lat; /*< [degE7] Next waypoint, latitude (WGS84)*/
  14  int32_t next_lon; /*< [degE7] Next waypoint, longitude (WGS84)*/
  15  int32_t next_alt; /*< [mm] Next waypoint, altitude (WGS84)*/
  16  int16_t vx; /*< [cm/s] Ground X speed (latitude, positive north)*/
  17  int16_t vy; /*< [cm/s] Ground Y speed (longitude, positive east)*/
  18  int16_t vz; /*< [cm/s] Ground Z speed (altitude, positive down)*/
  19  uint16_t h_acc; /*< [mm] Horizontal position uncertainty (standard deviation)*/
  20  uint16_t v_acc; /*< [mm] Altitude uncertainty (standard deviation)*/
  21  uint16_t vel_acc; /*< [cm/s] Speed uncertainty (standard deviation)*/
  22  uint16_t update_rate; /*< [cs] Time until next update. Set to 0 if unknown or in data driven mode.*/
  23  uint8_t uas_id[18]; /*<  Unique UAS ID.*/
  24  uint8_t flight_state; /*<  Flight state*/
  25  uint8_t flags; /*<  Bitwise OR combination of the data available flags.*/
  26 } mavlink_utm_global_position_t;
  27
  28 #define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN 70
  29 #define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN 70
  30 #define MAVLINK_MSG_ID_340_LEN 70
  31 #define MAVLINK_MSG_ID_340_MIN_LEN 70
  32
  33 #define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC 99
  34 #define MAVLINK_MSG_ID_340_CRC 99
  35
  36 #define MAVLINK_MSG_UTM_GLOBAL_POSITION_FIELD_UAS_ID_LEN 18
  37
  38 #if MAVLINK_COMMAND_24BIT
  39 #define MAVLINK_MESSAGE_INFO_UTM_GLOBAL_POSITION { \
  40     340, \
  41     "UTM_GLOBAL_POSITION", \
  42     18, \
  43     {  { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_utm_global_position_t, time) }, \
  44          { "uas_id", NULL, MAVLINK_TYPE_UINT8_T, 18, 50, offsetof(mavlink_utm_global_position_t, uas_id) }, \
  45          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_utm_global_position_t, lat) }, \
  46          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_utm_global_position_t, lon) }, \
  47          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_utm_global_position_t, alt) }, \
  48          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_utm_global_position_t, relative_alt) }, \
  49          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_utm_global_position_t, vx) }, \
  50          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_utm_global_position_t, vy) }, \
  51          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_utm_global_position_t, vz) }, \
  52          { "h_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_utm_global_position_t, h_acc) }, \
  53          { "v_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_utm_global_position_t, v_acc) }, \
  54          { "vel_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 46, offsetof(mavlink_utm_global_position_t, vel_acc) }, \
  55          { "next_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_utm_global_position_t, next_lat) }, \
  56          { "next_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_utm_global_position_t, next_lon) }, \
  57          { "next_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_utm_global_position_t, next_alt) }, \
  58          { "update_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_utm_global_position_t, update_rate) }, \
  59          { "flight_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_utm_global_position_t, flight_state) }, \
  60          { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 69, offsetof(mavlink_utm_global_position_t, flags) }, \
  61          } \
  62 }
  63 #else
  64 #define MAVLINK_MESSAGE_INFO_UTM_GLOBAL_POSITION { \
  65     "UTM_GLOBAL_POSITION", \
  66     18, \
  67     {  { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_utm_global_position_t, time) }, \
  68          { "uas_id", NULL, MAVLINK_TYPE_UINT8_T, 18, 50, offsetof(mavlink_utm_global_position_t, uas_id) }, \
  69          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_utm_global_position_t, lat) }, \
  70          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_utm_global_position_t, lon) }, \
  71          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_utm_global_position_t, alt) }, \
  72          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_utm_global_position_t, relative_alt) }, \
  73          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_utm_global_position_t, vx) }, \
  74          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_utm_global_position_t, vy) }, \
  75          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_utm_global_position_t, vz) }, \
  76          { "h_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_utm_global_position_t, h_acc) }, \
  77          { "v_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_utm_global_position_t, v_acc) }, \
  78          { "vel_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 46, offsetof(mavlink_utm_global_position_t, vel_acc) }, \
  79          { "next_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_utm_global_position_t, next_lat) }, \
  80          { "next_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_utm_global_position_t, next_lon) }, \
  81          { "next_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_utm_global_position_t, next_alt) }, \
  82          { "update_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_utm_global_position_t, update_rate) }, \
  83          { "flight_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_utm_global_position_t, flight_state) }, \
  84          { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 69, offsetof(mavlink_utm_global_position_t, flags) }, \
  85          } \
  86 }
  87 #endif
  88
  89 /**
  90  * @brief Pack a utm_global_position message
  91  * @param system_id ID of this system
  92  * @param component_id ID of this component (e.g. 200 for IMU)
  93  * @param msg The MAVLink message to compress the data into
  94  *
  95  * @param time [us] Time of applicability of position (microseconds since UNIX epoch).
  96  * @param uas_id  Unique UAS ID.
  97  * @param lat [degE7] Latitude (WGS84)
  98  * @param lon [degE7] Longitude (WGS84)
  99  * @param alt [mm] Altitude (WGS84)
 100  * @param relative_alt [mm] Altitude above ground
 101  * @param vx [cm/s] Ground X speed (latitude, positive north)
 102  * @param vy [cm/s] Ground Y speed (longitude, positive east)
 103  * @param vz [cm/s] Ground Z speed (altitude, positive down)
 104  * @param h_acc [mm] Horizontal position uncertainty (standard deviation)
 105  * @param v_acc [mm] Altitude uncertainty (standard deviation)
 106  * @param vel_acc [cm/s] Speed uncertainty (standard deviation)
 107  * @param next_lat [degE7] Next waypoint, latitude (WGS84)
 108  * @param next_lon [degE7] Next waypoint, longitude (WGS84)
 109  * @param next_alt [mm] Next waypoint, altitude (WGS84)
 110  * @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
 111  * @param flight_state  Flight state
 112  * @param flags  Bitwise OR combination of the data available flags.
 113  * @return length of the message in bytes (excluding serial stream start sign)
 114  */
 115 static inline uint16_t mavlink_msg_utm_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 116                                uint64_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
 117 {
 118 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 119     char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
 120     _mav_put_uint64_t(buf, 0, time);
 121     _mav_put_int32_t(buf, 8, lat);
 122     _mav_put_int32_t(buf, 12, lon);
 123     _mav_put_int32_t(buf, 16, alt);
 124     _mav_put_int32_t(buf, 20, relative_alt);
 125     _mav_put_int32_t(buf, 24, next_lat);
 126     _mav_put_int32_t(buf, 28, next_lon);
 127     _mav_put_int32_t(buf, 32, next_alt);
 128     _mav_put_int16_t(buf, 36, vx);
 129     _mav_put_int16_t(buf, 38, vy);
 130     _mav_put_int16_t(buf, 40, vz);
 131     _mav_put_uint16_t(buf, 42, h_acc);
 132     _mav_put_uint16_t(buf, 44, v_acc);
 133     _mav_put_uint16_t(buf, 46, vel_acc);
 134     _mav_put_uint16_t(buf, 48, update_rate);
 135     _mav_put_uint8_t(buf, 68, flight_state);
 136     _mav_put_uint8_t(buf, 69, flags);
 137     _mav_put_uint8_t_array(buf, 50, uas_id, 18);
 138         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
 139 #else
 140     mavlink_utm_global_position_t packet;
 141     packet.time = time;
 142     packet.lat = lat;
 143     packet.lon = lon;
 144     packet.alt = alt;
 145     packet.relative_alt = relative_alt;
 146     packet.next_lat = next_lat;
 147     packet.next_lon = next_lon;
 148     packet.next_alt = next_alt;
 149     packet.vx = vx;
 150     packet.vy = vy;
 151     packet.vz = vz;
 152     packet.h_acc = h_acc;
 153     packet.v_acc = v_acc;
 154     packet.vel_acc = vel_acc;
 155     packet.update_rate = update_rate;
 156     packet.flight_state = flight_state;
 157     packet.flags = flags;
 158     mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
 159         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
 160 #endif
 161
 162     msg->msgid = MAVLINK_MSG_ID_UTM_GLOBAL_POSITION;
 163     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 164 }
 165
 166 /**
 167  * @brief Pack a utm_global_position message on a channel
 168  * @param system_id ID of this system
 169  * @param component_id ID of this component (e.g. 200 for IMU)
 170  * @param chan The MAVLink channel this message will be sent over
 171  * @param msg The MAVLink message to compress the data into
 172  * @param time [us] Time of applicability of position (microseconds since UNIX epoch).
 173  * @param uas_id  Unique UAS ID.
 174  * @param lat [degE7] Latitude (WGS84)
 175  * @param lon [degE7] Longitude (WGS84)
 176  * @param alt [mm] Altitude (WGS84)
 177  * @param relative_alt [mm] Altitude above ground
 178  * @param vx [cm/s] Ground X speed (latitude, positive north)
 179  * @param vy [cm/s] Ground Y speed (longitude, positive east)
 180  * @param vz [cm/s] Ground Z speed (altitude, positive down)
 181  * @param h_acc [mm] Horizontal position uncertainty (standard deviation)
 182  * @param v_acc [mm] Altitude uncertainty (standard deviation)
 183  * @param vel_acc [cm/s] Speed uncertainty (standard deviation)
 184  * @param next_lat [degE7] Next waypoint, latitude (WGS84)
 185  * @param next_lon [degE7] Next waypoint, longitude (WGS84)
 186  * @param next_alt [mm] Next waypoint, altitude (WGS84)
 187  * @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
 188  * @param flight_state  Flight state
 189  * @param flags  Bitwise OR combination of the data available flags.
 190  * @return length of the message in bytes (excluding serial stream start sign)
 191  */
 192 static inline uint16_t mavlink_msg_utm_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 193                                mavlink_message_t* msg,
 194                                    uint64_t time,const uint8_t *uas_id,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t h_acc,uint16_t v_acc,uint16_t vel_acc,int32_t next_lat,int32_t next_lon,int32_t next_alt,uint16_t update_rate,uint8_t flight_state,uint8_t flags)
 195 {
 196 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 197     char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
 198     _mav_put_uint64_t(buf, 0, time);
 199     _mav_put_int32_t(buf, 8, lat);
 200     _mav_put_int32_t(buf, 12, lon);
 201     _mav_put_int32_t(buf, 16, alt);
 202     _mav_put_int32_t(buf, 20, relative_alt);
 203     _mav_put_int32_t(buf, 24, next_lat);
 204     _mav_put_int32_t(buf, 28, next_lon);
 205     _mav_put_int32_t(buf, 32, next_alt);
 206     _mav_put_int16_t(buf, 36, vx);
 207     _mav_put_int16_t(buf, 38, vy);
 208     _mav_put_int16_t(buf, 40, vz);
 209     _mav_put_uint16_t(buf, 42, h_acc);
 210     _mav_put_uint16_t(buf, 44, v_acc);
 211     _mav_put_uint16_t(buf, 46, vel_acc);
 212     _mav_put_uint16_t(buf, 48, update_rate);
 213     _mav_put_uint8_t(buf, 68, flight_state);
 214     _mav_put_uint8_t(buf, 69, flags);
 215     _mav_put_uint8_t_array(buf, 50, uas_id, 18);
 216         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
 217 #else
 218     mavlink_utm_global_position_t packet;
 219     packet.time = time;
 220     packet.lat = lat;
 221     packet.lon = lon;
 222     packet.alt = alt;
 223     packet.relative_alt = relative_alt;
 224     packet.next_lat = next_lat;
 225     packet.next_lon = next_lon;
 226     packet.next_alt = next_alt;
 227     packet.vx = vx;
 228     packet.vy = vy;
 229     packet.vz = vz;
 230     packet.h_acc = h_acc;
 231     packet.v_acc = v_acc;
 232     packet.vel_acc = vel_acc;
 233     packet.update_rate = update_rate;
 234     packet.flight_state = flight_state;
 235     packet.flags = flags;
 236     mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
 237         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
 238 #endif
 239
 240     msg->msgid = MAVLINK_MSG_ID_UTM_GLOBAL_POSITION;
 241     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 242 }
 243
 244 /**
 245  * @brief Encode a utm_global_position struct
 246  *
 247  * @param system_id ID of this system
 248  * @param component_id ID of this component (e.g. 200 for IMU)
 249  * @param msg The MAVLink message to compress the data into
 250  * @param utm_global_position C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_utm_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_utm_global_position_t* utm_global_position)
 253 {
 254     return mavlink_msg_utm_global_position_pack(system_id, component_id, msg, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
 255 }
 256
 257 /**
 258  * @brief Encode a utm_global_position struct on a channel
 259  *
 260  * @param system_id ID of this system
 261  * @param component_id ID of this component (e.g. 200 for IMU)
 262  * @param chan The MAVLink channel this message will be sent over
 263  * @param msg The MAVLink message to compress the data into
 264  * @param utm_global_position C-struct to read the message contents from
 265  */
 266 static inline uint16_t mavlink_msg_utm_global_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_utm_global_position_t* utm_global_position)
 267 {
 268     return mavlink_msg_utm_global_position_pack_chan(system_id, component_id, chan, msg, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
 269 }
 270
 271 /**
 272  * @brief Send a utm_global_position message
 273  * @param chan MAVLink channel to send the message
 274  *
 275  * @param time [us] Time of applicability of position (microseconds since UNIX epoch).
 276  * @param uas_id  Unique UAS ID.
 277  * @param lat [degE7] Latitude (WGS84)
 278  * @param lon [degE7] Longitude (WGS84)
 279  * @param alt [mm] Altitude (WGS84)
 280  * @param relative_alt [mm] Altitude above ground
 281  * @param vx [cm/s] Ground X speed (latitude, positive north)
 282  * @param vy [cm/s] Ground Y speed (longitude, positive east)
 283  * @param vz [cm/s] Ground Z speed (altitude, positive down)
 284  * @param h_acc [mm] Horizontal position uncertainty (standard deviation)
 285  * @param v_acc [mm] Altitude uncertainty (standard deviation)
 286  * @param vel_acc [cm/s] Speed uncertainty (standard deviation)
 287  * @param next_lat [degE7] Next waypoint, latitude (WGS84)
 288  * @param next_lon [degE7] Next waypoint, longitude (WGS84)
 289  * @param next_alt [mm] Next waypoint, altitude (WGS84)
 290  * @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
 291  * @param flight_state  Flight state
 292  * @param flags  Bitwise OR combination of the data available flags.
 293  */
 294 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 295
 296 static inline void mavlink_msg_utm_global_position_send(mavlink_channel_t chan, uint64_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
 297 {
 298 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 299     char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
 300     _mav_put_uint64_t(buf, 0, time);
 301     _mav_put_int32_t(buf, 8, lat);
 302     _mav_put_int32_t(buf, 12, lon);
 303     _mav_put_int32_t(buf, 16, alt);
 304     _mav_put_int32_t(buf, 20, relative_alt);
 305     _mav_put_int32_t(buf, 24, next_lat);
 306     _mav_put_int32_t(buf, 28, next_lon);
 307     _mav_put_int32_t(buf, 32, next_alt);
 308     _mav_put_int16_t(buf, 36, vx);
 309     _mav_put_int16_t(buf, 38, vy);
 310     _mav_put_int16_t(buf, 40, vz);
 311     _mav_put_uint16_t(buf, 42, h_acc);
 312     _mav_put_uint16_t(buf, 44, v_acc);
 313     _mav_put_uint16_t(buf, 46, vel_acc);
 314     _mav_put_uint16_t(buf, 48, update_rate);
 315     _mav_put_uint8_t(buf, 68, flight_state);
 316     _mav_put_uint8_t(buf, 69, flags);
 317     _mav_put_uint8_t_array(buf, 50, uas_id, 18);
 318     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 319 #else
 320     mavlink_utm_global_position_t packet;
 321     packet.time = time;
 322     packet.lat = lat;
 323     packet.lon = lon;
 324     packet.alt = alt;
 325     packet.relative_alt = relative_alt;
 326     packet.next_lat = next_lat;
 327     packet.next_lon = next_lon;
 328     packet.next_alt = next_alt;
 329     packet.vx = vx;
 330     packet.vy = vy;
 331     packet.vz = vz;
 332     packet.h_acc = h_acc;
 333     packet.v_acc = v_acc;
 334     packet.vel_acc = vel_acc;
 335     packet.update_rate = update_rate;
 336     packet.flight_state = flight_state;
 337     packet.flags = flags;
 338     mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
 339     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)&packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 340 #endif
 341 }
 342
 343 /**
 344  * @brief Send a utm_global_position message
 345  * @param chan MAVLink channel to send the message
 346  * @param struct The MAVLink struct to serialize
 347  */
 348 static inline void mavlink_msg_utm_global_position_send_struct(mavlink_channel_t chan, const mavlink_utm_global_position_t* utm_global_position)
 349 {
 350 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 351     mavlink_msg_utm_global_position_send(chan, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
 352 #else
 353     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)utm_global_position, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 354 #endif
 355 }
 356
 357 #if MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 358 /*
 359   This varient of _send() can be used to save stack space by re-using
 360   memory from the receive buffer.  The caller provides a
 361   mavlink_message_t which is the size of a full mavlink message. This
 362   is usually the receive buffer for the channel, and allows a reply to an
 363   incoming message with minimum stack space usage.
 364  */
 365 static inline void mavlink_msg_utm_global_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
 366 {
 367 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 368     char *buf = (char *)msgbuf;
 369     _mav_put_uint64_t(buf, 0, time);
 370     _mav_put_int32_t(buf, 8, lat);
 371     _mav_put_int32_t(buf, 12, lon);
 372     _mav_put_int32_t(buf, 16, alt);
 373     _mav_put_int32_t(buf, 20, relative_alt);
 374     _mav_put_int32_t(buf, 24, next_lat);
 375     _mav_put_int32_t(buf, 28, next_lon);
 376     _mav_put_int32_t(buf, 32, next_alt);
 377     _mav_put_int16_t(buf, 36, vx);
 378     _mav_put_int16_t(buf, 38, vy);
 379     _mav_put_int16_t(buf, 40, vz);
 380     _mav_put_uint16_t(buf, 42, h_acc);
 381     _mav_put_uint16_t(buf, 44, v_acc);
 382     _mav_put_uint16_t(buf, 46, vel_acc);
 383     _mav_put_uint16_t(buf, 48, update_rate);
 384     _mav_put_uint8_t(buf, 68, flight_state);
 385     _mav_put_uint8_t(buf, 69, flags);
 386     _mav_put_uint8_t_array(buf, 50, uas_id, 18);
 387     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 388 #else
 389     mavlink_utm_global_position_t *packet = (mavlink_utm_global_position_t *)msgbuf;
 390     packet->time = time;
 391     packet->lat = lat;
 392     packet->lon = lon;
 393     packet->alt = alt;
 394     packet->relative_alt = relative_alt;
 395     packet->next_lat = next_lat;
 396     packet->next_lon = next_lon;
 397     packet->next_alt = next_alt;
 398     packet->vx = vx;
 399     packet->vy = vy;
 400     packet->vz = vz;
 401     packet->h_acc = h_acc;
 402     packet->v_acc = v_acc;
 403     packet->vel_acc = vel_acc;
 404     packet->update_rate = update_rate;
 405     packet->flight_state = flight_state;
 406     packet->flags = flags;
 407     mav_array_memcpy(packet->uas_id, uas_id, sizeof(uint8_t)*18);
 408     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
 409 #endif
 410 }
 411 #endif
 412
 413 #endif
 414
 415 // MESSAGE UTM_GLOBAL_POSITION UNPACKING
 416
 417
 418 /**
 419  * @brief Get field time from utm_global_position message
 420  *
 421  * @return [us] Time of applicability of position (microseconds since UNIX epoch).
 422  */
 423 static inline uint64_t mavlink_msg_utm_global_position_get_time(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_uint64_t(msg,  0);
 426 }
 427
 428 /**
 429  * @brief Get field uas_id from utm_global_position message
 430  *
 431  * @return  Unique UAS ID.
 432  */
 433 static inline uint16_t mavlink_msg_utm_global_position_get_uas_id(const mavlink_message_t* msg, uint8_t *uas_id)
 434 {
 435     return _MAV_RETURN_uint8_t_array(msg, uas_id, 18,  50);
 436 }
 437
 438 /**
 439  * @brief Get field lat from utm_global_position message
 440  *
 441  * @return [degE7] Latitude (WGS84)
 442  */
 443 static inline int32_t mavlink_msg_utm_global_position_get_lat(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_int32_t(msg,  8);
 446 }
 447
 448 /**
 449  * @brief Get field lon from utm_global_position message
 450  *
 451  * @return [degE7] Longitude (WGS84)
 452  */
 453 static inline int32_t mavlink_msg_utm_global_position_get_lon(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_int32_t(msg,  12);
 456 }
 457
 458 /**
 459  * @brief Get field alt from utm_global_position message
 460  *
 461  * @return [mm] Altitude (WGS84)
 462  */
 463 static inline int32_t mavlink_msg_utm_global_position_get_alt(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_int32_t(msg,  16);
 466 }
 467
 468 /**
 469  * @brief Get field relative_alt from utm_global_position message
 470  *
 471  * @return [mm] Altitude above ground
 472  */
 473 static inline int32_t mavlink_msg_utm_global_position_get_relative_alt(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_int32_t(msg,  20);
 476 }
 477
 478 /**
 479  * @brief Get field vx from utm_global_position message
 480  *
 481  * @return [cm/s] Ground X speed (latitude, positive north)
 482  */
 483 static inline int16_t mavlink_msg_utm_global_position_get_vx(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_int16_t(msg,  36);
 486 }
 487
 488 /**
 489  * @brief Get field vy from utm_global_position message
 490  *
 491  * @return [cm/s] Ground Y speed (longitude, positive east)
 492  */
 493 static inline int16_t mavlink_msg_utm_global_position_get_vy(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_int16_t(msg,  38);
 496 }
 497
 498 /**
 499  * @brief Get field vz from utm_global_position message
 500  *
 501  * @return [cm/s] Ground Z speed (altitude, positive down)
 502  */
 503 static inline int16_t mavlink_msg_utm_global_position_get_vz(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_int16_t(msg,  40);
 506 }
 507
 508 /**
 509  * @brief Get field h_acc from utm_global_position message
 510  *
 511  * @return [mm] Horizontal position uncertainty (standard deviation)
 512  */
 513 static inline uint16_t mavlink_msg_utm_global_position_get_h_acc(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_uint16_t(msg,  42);
 516 }
 517
 518 /**
 519  * @brief Get field v_acc from utm_global_position message
 520  *
 521  * @return [mm] Altitude uncertainty (standard deviation)
 522  */
 523 static inline uint16_t mavlink_msg_utm_global_position_get_v_acc(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_uint16_t(msg,  44);
 526 }
 527
 528 /**
 529  * @brief Get field vel_acc from utm_global_position message
 530  *
 531  * @return [cm/s] Speed uncertainty (standard deviation)
 532  */
 533 static inline uint16_t mavlink_msg_utm_global_position_get_vel_acc(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_uint16_t(msg,  46);
 536 }
 537
 538 /**
 539  * @brief Get field next_lat from utm_global_position message
 540  *
 541  * @return [degE7] Next waypoint, latitude (WGS84)
 542  */
 543 static inline int32_t mavlink_msg_utm_global_position_get_next_lat(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_int32_t(msg,  24);
 546 }
 547
 548 /**
 549  * @brief Get field next_lon from utm_global_position message
 550  *
 551  * @return [degE7] Next waypoint, longitude (WGS84)
 552  */
 553 static inline int32_t mavlink_msg_utm_global_position_get_next_lon(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_int32_t(msg,  28);
 556 }
 557
 558 /**
 559  * @brief Get field next_alt from utm_global_position message
 560  *
 561  * @return [mm] Next waypoint, altitude (WGS84)
 562  */
 563 static inline int32_t mavlink_msg_utm_global_position_get_next_alt(const mavlink_message_t* msg)
 564 {
 565     return _MAV_RETURN_int32_t(msg,  32);
 566 }
 567
 568 /**
 569  * @brief Get field update_rate from utm_global_position message
 570  *
 571  * @return [cs] Time until next update. Set to 0 if unknown or in data driven mode.
 572  */
 573 static inline uint16_t mavlink_msg_utm_global_position_get_update_rate(const mavlink_message_t* msg)
 574 {
 575     return _MAV_RETURN_uint16_t(msg,  48);
 576 }
 577
 578 /**
 579  * @brief Get field flight_state from utm_global_position message
 580  *
 581  * @return  Flight state
 582  */
 583 static inline uint8_t mavlink_msg_utm_global_position_get_flight_state(const mavlink_message_t* msg)
 584 {
 585     return _MAV_RETURN_uint8_t(msg,  68);
 586 }
 587
 588 /**
 589  * @brief Get field flags from utm_global_position message
 590  *
 591  * @return  Bitwise OR combination of the data available flags.
 592  */
 593 static inline uint8_t mavlink_msg_utm_global_position_get_flags(const mavlink_message_t* msg)
 594 {
 595     return _MAV_RETURN_uint8_t(msg,  69);
 596 }
 597
 598 /**
 599  * @brief Decode a utm_global_position message into a struct
 600  *
 601  * @param msg The message to decode
 602  * @param utm_global_position C-struct to decode the message contents into
 603  */
 604 static inline void mavlink_msg_utm_global_position_decode(const mavlink_message_t* msg, mavlink_utm_global_position_t* utm_global_position)
 605 {
 606 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 607     utm_global_position->time = mavlink_msg_utm_global_position_get_time(msg);
 608     utm_global_position->lat = mavlink_msg_utm_global_position_get_lat(msg);
 609     utm_global_position->lon = mavlink_msg_utm_global_position_get_lon(msg);
 610     utm_global_position->alt = mavlink_msg_utm_global_position_get_alt(msg);
 611     utm_global_position->relative_alt = mavlink_msg_utm_global_position_get_relative_alt(msg);
 612     utm_global_position->next_lat = mavlink_msg_utm_global_position_get_next_lat(msg);
 613     utm_global_position->next_lon = mavlink_msg_utm_global_position_get_next_lon(msg);
 614     utm_global_position->next_alt = mavlink_msg_utm_global_position_get_next_alt(msg);
 615     utm_global_position->vx = mavlink_msg_utm_global_position_get_vx(msg);
 616     utm_global_position->vy = mavlink_msg_utm_global_position_get_vy(msg);
 617     utm_global_position->vz = mavlink_msg_utm_global_position_get_vz(msg);
 618     utm_global_position->h_acc = mavlink_msg_utm_global_position_get_h_acc(msg);
 619     utm_global_position->v_acc = mavlink_msg_utm_global_position_get_v_acc(msg);
 620     utm_global_position->vel_acc = mavlink_msg_utm_global_position_get_vel_acc(msg);
 621     utm_global_position->update_rate = mavlink_msg_utm_global_position_get_update_rate(msg);
 622     mavlink_msg_utm_global_position_get_uas_id(msg, utm_global_position->uas_id);
 623     utm_global_position->flight_state = mavlink_msg_utm_global_position_get_flight_state(msg);
 624     utm_global_position->flags = mavlink_msg_utm_global_position_get_flags(msg);
 625 #else
 626         uint8_t len = msg->len < MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN? msg->len : MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN;
 627         memset(utm_global_position, 0, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
 628     memcpy(utm_global_position, _MAV_PAYLOAD(msg), len);
 629 #endif
 630 }