lib/main/MAVLink/common/mavlink_msg_gps_status.h

   1 #pragma once
   2 // MESSAGE GPS_STATUS PACKING
   3
   4 #define MAVLINK_MSG_ID_GPS_STATUS 25
   5
   6
   7 typedef struct __mavlink_gps_status_t {
   8  uint8_t satellites_visible; /*<  Number of satellites visible*/
   9  uint8_t satellite_prn[20]; /*<  Global satellite ID*/
  10  uint8_t satellite_used[20]; /*<  0: Satellite not used, 1: used for localization*/
  11  uint8_t satellite_elevation[20]; /*< [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite*/
  12  uint8_t satellite_azimuth[20]; /*< [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.*/
  13  uint8_t satellite_snr[20]; /*< [dB] Signal to noise ratio of satellite*/
  14 } mavlink_gps_status_t;
  15
  16 #define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
  17 #define MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN 101
  18 #define MAVLINK_MSG_ID_25_LEN 101
  19 #define MAVLINK_MSG_ID_25_MIN_LEN 101
  20
  21 #define MAVLINK_MSG_ID_GPS_STATUS_CRC 23
  22 #define MAVLINK_MSG_ID_25_CRC 23
  23
  24 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
  25 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
  26 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
  27 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
  28 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
  29
  30 #if MAVLINK_COMMAND_24BIT
  31 #define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
  32     25, \
  33     "GPS_STATUS", \
  34     6, \
  35     {  { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
  36          { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
  37          { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
  38          { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
  39          { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
  40          { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
  45     "GPS_STATUS", \
  46     6, \
  47     {  { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
  48          { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
  49          { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
  50          { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
  51          { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
  52          { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
  53          } \
  54 }
  55 #endif
  56
  57 /**
  58  * @brief Pack a gps_status message
  59  * @param system_id ID of this system
  60  * @param component_id ID of this component (e.g. 200 for IMU)
  61  * @param msg The MAVLink message to compress the data into
  62  *
  63  * @param satellites_visible  Number of satellites visible
  64  * @param satellite_prn  Global satellite ID
  65  * @param satellite_used  0: Satellite not used, 1: used for localization
  66  * @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  67  * @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
  68  * @param satellite_snr [dB] Signal to noise ratio of satellite
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75     char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
  76     _mav_put_uint8_t(buf, 0, satellites_visible);
  77     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
  78     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
  79     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
  80     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
  81     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
  83 #else
  84     mavlink_gps_status_t packet;
  85     packet.satellites_visible = satellites_visible;
  86     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
  87     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
  88     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
  89     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
  90     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
  91         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
  92 #endif
  93
  94     msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
  95     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
  96 }
  97
  98 /**
  99  * @brief Pack a gps_status message on a channel
 100  * @param system_id ID of this system
 101  * @param component_id ID of this component (e.g. 200 for IMU)
 102  * @param chan The MAVLink channel this message will be sent over
 103  * @param msg The MAVLink message to compress the data into
 104  * @param satellites_visible  Number of satellites visible
 105  * @param satellite_prn  Global satellite ID
 106  * @param satellite_used  0: Satellite not used, 1: used for localization
 107  * @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 108  * @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
 109  * @param satellite_snr [dB] Signal to noise ratio of satellite
 110  * @return length of the message in bytes (excluding serial stream start sign)
 111  */
 112 static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 113                                mavlink_message_t* msg,
 114                                    uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
 115 {
 116 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 117     char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
 118     _mav_put_uint8_t(buf, 0, satellites_visible);
 119     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 120     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 121     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 122     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 123     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 125 #else
 126     mavlink_gps_status_t packet;
 127     packet.satellites_visible = satellites_visible;
 128     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 129     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
 130     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 131     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 132     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 133         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 134 #endif
 135
 136     msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
 137     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 138 }
 139
 140 /**
 141  * @brief Encode a gps_status struct
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param msg The MAVLink message to compress the data into
 146  * @param gps_status C-struct to read the message contents from
 147  */
 148 static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
 149 {
 150     return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 151 }
 152
 153 /**
 154  * @brief Encode a gps_status struct on a channel
 155  *
 156  * @param system_id ID of this system
 157  * @param component_id ID of this component (e.g. 200 for IMU)
 158  * @param chan The MAVLink channel this message will be sent over
 159  * @param msg The MAVLink message to compress the data into
 160  * @param gps_status C-struct to read the message contents from
 161  */
 162 static inline uint16_t mavlink_msg_gps_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
 163 {
 164     return mavlink_msg_gps_status_pack_chan(system_id, component_id, chan, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 165 }
 166
 167 /**
 168  * @brief Send a gps_status message
 169  * @param chan MAVLink channel to send the message
 170  *
 171  * @param satellites_visible  Number of satellites visible
 172  * @param satellite_prn  Global satellite ID
 173  * @param satellite_used  0: Satellite not used, 1: used for localization
 174  * @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 175  * @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
 176  * @param satellite_snr [dB] Signal to noise ratio of satellite
 177  */
 178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 179
 180 static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
 184     _mav_put_uint8_t(buf, 0, satellites_visible);
 185     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 186     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 187     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 188     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 189     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 190     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 191 #else
 192     mavlink_gps_status_t packet;
 193     packet.satellites_visible = satellites_visible;
 194     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 195     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
 196     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 197     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 198     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 200 #endif
 201 }
 202
 203 /**
 204  * @brief Send a gps_status message
 205  * @param chan MAVLink channel to send the message
 206  * @param struct The MAVLink struct to serialize
 207  */
 208 static inline void mavlink_msg_gps_status_send_struct(mavlink_channel_t chan, const mavlink_gps_status_t* gps_status)
 209 {
 210 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 211     mavlink_msg_gps_status_send(chan, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 212 #else
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)gps_status, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 214 #endif
 215 }
 216
 217 #if MAVLINK_MSG_ID_GPS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 218 /*
 219   This varient of _send() can be used to save stack space by re-using
 220   memory from the receive buffer.  The caller provides a
 221   mavlink_message_t which is the size of a full mavlink message. This
 222   is usually the receive buffer for the channel, and allows a reply to an
 223   incoming message with minimum stack space usage.
 224  */
 225 static inline void mavlink_msg_gps_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 226 {
 227 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 228     char *buf = (char *)msgbuf;
 229     _mav_put_uint8_t(buf, 0, satellites_visible);
 230     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 231     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 232     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 233     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 234     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 236 #else
 237     mavlink_gps_status_t *packet = (mavlink_gps_status_t *)msgbuf;
 238     packet->satellites_visible = satellites_visible;
 239     mav_array_memcpy(packet->satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 240     mav_array_memcpy(packet->satellite_used, satellite_used, sizeof(uint8_t)*20);
 241     mav_array_memcpy(packet->satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 242     mav_array_memcpy(packet->satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 243     mav_array_memcpy(packet->satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 244     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 245 #endif
 246 }
 247 #endif
 248
 249 #endif
 250
 251 // MESSAGE GPS_STATUS UNPACKING
 252
 253
 254 /**
 255  * @brief Get field satellites_visible from gps_status message
 256  *
 257  * @return  Number of satellites visible
 258  */
 259 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
 260 {
 261     return _MAV_RETURN_uint8_t(msg,  0);
 262 }
 263
 264 /**
 265  * @brief Get field satellite_prn from gps_status message
 266  *
 267  * @return  Global satellite ID
 268  */
 269 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
 270 {
 271     return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20,  1);
 272 }
 273
 274 /**
 275  * @brief Get field satellite_used from gps_status message
 276  *
 277  * @return  0: Satellite not used, 1: used for localization
 278  */
 279 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
 280 {
 281     return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20,  21);
 282 }
 283
 284 /**
 285  * @brief Get field satellite_elevation from gps_status message
 286  *
 287  * @return [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 288  */
 289 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
 290 {
 291     return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20,  41);
 292 }
 293
 294 /**
 295  * @brief Get field satellite_azimuth from gps_status message
 296  *
 297  * @return [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
 298  */
 299 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
 300 {
 301     return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20,  61);
 302 }
 303
 304 /**
 305  * @brief Get field satellite_snr from gps_status message
 306  *
 307  * @return [dB] Signal to noise ratio of satellite
 308  */
 309 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
 310 {
 311     return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20,  81);
 312 }
 313
 314 /**
 315  * @brief Decode a gps_status message into a struct
 316  *
 317  * @param msg The message to decode
 318  * @param gps_status C-struct to decode the message contents into
 319  */
 320 static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
 321 {
 322 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 323     gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
 324     mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
 325     mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
 326     mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
 327     mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
 328     mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
 329 #else
 330         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_GPS_STATUS_LEN;
 331         memset(gps_status, 0, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 332     memcpy(gps_status, _MAV_PAYLOAD(msg), len);
 333 #endif
 334 }