lib/main/MAVLink/common/mavlink_msg_hil_gps.h

   1 #pragma once
   2 // MESSAGE HIL_GPS PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_GPS 113
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_hil_gps_t {
   8  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.*/
   9  int32_t lat; /*< [degE7] Latitude (WGS84)*/
  10  int32_t lon; /*< [degE7] Longitude (WGS84)*/
  11  int32_t alt; /*< [mm] Altitude (MSL). Positive for up.*/
  12  uint16_t eph; /*<  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX*/
  13  uint16_t epv; /*<  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX*/
  14  uint16_t vel; /*< [cm/s] GPS ground speed. If unknown, set to: 65535*/
  15  int16_t vn; /*< [cm/s] GPS velocity in north direction in earth-fixed NED frame*/
  16  int16_t ve; /*< [cm/s] GPS velocity in east direction in earth-fixed NED frame*/
  17  int16_t vd; /*< [cm/s] GPS velocity in down direction in earth-fixed NED frame*/
  18  uint16_t cog; /*< [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535*/
  19  uint8_t fix_type; /*<  0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.*/
  20  uint8_t satellites_visible; /*<  Number of satellites visible. If unknown, set to 255*/
  21  uint8_t id; /*<  GPS ID (zero indexed). Used for multiple GPS inputs*/
  22  uint16_t yaw; /*< [cdeg] Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north*/
  23 }) mavlink_hil_gps_t;
  24
  25 #define MAVLINK_MSG_ID_HIL_GPS_LEN 39
  26 #define MAVLINK_MSG_ID_HIL_GPS_MIN_LEN 36
  27 #define MAVLINK_MSG_ID_113_LEN 39
  28 #define MAVLINK_MSG_ID_113_MIN_LEN 36
  29
  30 #define MAVLINK_MSG_ID_HIL_GPS_CRC 124
  31 #define MAVLINK_MSG_ID_113_CRC 124
  32
  33
  34
  35 #if MAVLINK_COMMAND_24BIT
  36 #define MAVLINK_MESSAGE_INFO_HIL_GPS { \
  37     113, \
  38     "HIL_GPS", \
  39     15, \
  40     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
  41          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
  42          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
  43          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
  44          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
  45          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
  46          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
  47          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
  48          { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
  49          { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
  50          { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
  51          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
  52          { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
  53          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_hil_gps_t, id) }, \
  54          { "yaw", NULL, MAVLINK_TYPE_UINT16_T, 0, 37, offsetof(mavlink_hil_gps_t, yaw) }, \
  55          } \
  56 }
  57 #else
  58 #define MAVLINK_MESSAGE_INFO_HIL_GPS { \
  59     "HIL_GPS", \
  60     15, \
  61     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
  62          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
  63          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
  64          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
  65          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
  66          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
  67          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
  68          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
  69          { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
  70          { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
  71          { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
  72          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
  73          { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
  74          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_hil_gps_t, id) }, \
  75          { "yaw", NULL, MAVLINK_TYPE_UINT16_T, 0, 37, offsetof(mavlink_hil_gps_t, yaw) }, \
  76          } \
  77 }
  78 #endif
  79
  80 /**
  81  * @brief Pack a hil_gps message
  82  * @param system_id ID of this system
  83  * @param component_id ID of this component (e.g. 200 for IMU)
  84  * @param msg The MAVLink message to compress the data into
  85  *
  86  * @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.
  87  * @param fix_type  0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
  88  * @param lat [degE7] Latitude (WGS84)
  89  * @param lon [degE7] Longitude (WGS84)
  90  * @param alt [mm] Altitude (MSL). Positive for up.
  91  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
  92  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
  93  * @param vel [cm/s] GPS ground speed. If unknown, set to: 65535
  94  * @param vn [cm/s] GPS velocity in north direction in earth-fixed NED frame
  95  * @param ve [cm/s] GPS velocity in east direction in earth-fixed NED frame
  96  * @param vd [cm/s] GPS velocity in down direction in earth-fixed NED frame
  97  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
  98  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
  99  * @param id  GPS ID (zero indexed). Used for multiple GPS inputs
 100  * @param yaw [cdeg] Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 104                                uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible, uint8_t id, uint16_t yaw)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
 108     _mav_put_uint64_t(buf, 0, time_usec);
 109     _mav_put_int32_t(buf, 8, lat);
 110     _mav_put_int32_t(buf, 12, lon);
 111     _mav_put_int32_t(buf, 16, alt);
 112     _mav_put_uint16_t(buf, 20, eph);
 113     _mav_put_uint16_t(buf, 22, epv);
 114     _mav_put_uint16_t(buf, 24, vel);
 115     _mav_put_int16_t(buf, 26, vn);
 116     _mav_put_int16_t(buf, 28, ve);
 117     _mav_put_int16_t(buf, 30, vd);
 118     _mav_put_uint16_t(buf, 32, cog);
 119     _mav_put_uint8_t(buf, 34, fix_type);
 120     _mav_put_uint8_t(buf, 35, satellites_visible);
 121     _mav_put_uint8_t(buf, 36, id);
 122     _mav_put_uint16_t(buf, 37, yaw);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
 125 #else
 126     mavlink_hil_gps_t packet;
 127     packet.time_usec = time_usec;
 128     packet.lat = lat;
 129     packet.lon = lon;
 130     packet.alt = alt;
 131     packet.eph = eph;
 132     packet.epv = epv;
 133     packet.vel = vel;
 134     packet.vn = vn;
 135     packet.ve = ve;
 136     packet.vd = vd;
 137     packet.cog = cog;
 138     packet.fix_type = fix_type;
 139     packet.satellites_visible = satellites_visible;
 140     packet.id = id;
 141     packet.yaw = yaw;
 142
 143         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
 144 #endif
 145
 146     msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
 147     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 148 }
 149
 150 /**
 151  * @brief Pack a hil_gps message on a channel
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param chan The MAVLink channel this message will be sent over
 155  * @param msg The MAVLink message to compress the data into
 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  * @param fix_type  0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 158  * @param lat [degE7] Latitude (WGS84)
 159  * @param lon [degE7] Longitude (WGS84)
 160  * @param alt [mm] Altitude (MSL). Positive for up.
 161  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 162  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 163  * @param vel [cm/s] GPS ground speed. If unknown, set to: 65535
 164  * @param vn [cm/s] GPS velocity in north direction in earth-fixed NED frame
 165  * @param ve [cm/s] GPS velocity in east direction in earth-fixed NED frame
 166  * @param vd [cm/s] GPS velocity in down direction in earth-fixed NED frame
 167  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
 168  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
 169  * @param id  GPS ID (zero indexed). Used for multiple GPS inputs
 170  * @param yaw [cdeg] Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
 171  * @return length of the message in bytes (excluding serial stream start sign)
 172  */
 173 static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 174                                mavlink_message_t* msg,
 175                                    uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible,uint8_t id,uint16_t yaw)
 176 {
 177 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 178     char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
 179     _mav_put_uint64_t(buf, 0, time_usec);
 180     _mav_put_int32_t(buf, 8, lat);
 181     _mav_put_int32_t(buf, 12, lon);
 182     _mav_put_int32_t(buf, 16, alt);
 183     _mav_put_uint16_t(buf, 20, eph);
 184     _mav_put_uint16_t(buf, 22, epv);
 185     _mav_put_uint16_t(buf, 24, vel);
 186     _mav_put_int16_t(buf, 26, vn);
 187     _mav_put_int16_t(buf, 28, ve);
 188     _mav_put_int16_t(buf, 30, vd);
 189     _mav_put_uint16_t(buf, 32, cog);
 190     _mav_put_uint8_t(buf, 34, fix_type);
 191     _mav_put_uint8_t(buf, 35, satellites_visible);
 192     _mav_put_uint8_t(buf, 36, id);
 193     _mav_put_uint16_t(buf, 37, yaw);
 194
 195         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
 196 #else
 197     mavlink_hil_gps_t packet;
 198     packet.time_usec = time_usec;
 199     packet.lat = lat;
 200     packet.lon = lon;
 201     packet.alt = alt;
 202     packet.eph = eph;
 203     packet.epv = epv;
 204     packet.vel = vel;
 205     packet.vn = vn;
 206     packet.ve = ve;
 207     packet.vd = vd;
 208     packet.cog = cog;
 209     packet.fix_type = fix_type;
 210     packet.satellites_visible = satellites_visible;
 211     packet.id = id;
 212     packet.yaw = yaw;
 213
 214         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
 215 #endif
 216
 217     msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
 218     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 219 }
 220
 221 /**
 222  * @brief Encode a hil_gps struct
 223  *
 224  * @param system_id ID of this system
 225  * @param component_id ID of this component (e.g. 200 for IMU)
 226  * @param msg The MAVLink message to compress the data into
 227  * @param hil_gps C-struct to read the message contents from
 228  */
 229 static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
 230 {
 231     return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible, hil_gps->id, hil_gps->yaw);
 232 }
 233
 234 /**
 235  * @brief Encode a hil_gps struct on a channel
 236  *
 237  * @param system_id ID of this system
 238  * @param component_id ID of this component (e.g. 200 for IMU)
 239  * @param chan The MAVLink channel this message will be sent over
 240  * @param msg The MAVLink message to compress the data into
 241  * @param hil_gps C-struct to read the message contents from
 242  */
 243 static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
 244 {
 245     return mavlink_msg_hil_gps_pack_chan(system_id, component_id, chan, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible, hil_gps->id, hil_gps->yaw);
 246 }
 247
 248 /**
 249  * @brief Send a hil_gps message
 250  * @param chan MAVLink channel to send the message
 251  *
 252  * @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.
 253  * @param fix_type  0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 254  * @param lat [degE7] Latitude (WGS84)
 255  * @param lon [degE7] Longitude (WGS84)
 256  * @param alt [mm] Altitude (MSL). Positive for up.
 257  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 258  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 259  * @param vel [cm/s] GPS ground speed. If unknown, set to: 65535
 260  * @param vn [cm/s] GPS velocity in north direction in earth-fixed NED frame
 261  * @param ve [cm/s] GPS velocity in east direction in earth-fixed NED frame
 262  * @param vd [cm/s] GPS velocity in down direction in earth-fixed NED frame
 263  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
 264  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
 265  * @param id  GPS ID (zero indexed). Used for multiple GPS inputs
 266  * @param yaw [cdeg] Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
 267  */
 268 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 269
 270 static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible, uint8_t id, uint16_t yaw)
 271 {
 272 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 273     char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
 274     _mav_put_uint64_t(buf, 0, time_usec);
 275     _mav_put_int32_t(buf, 8, lat);
 276     _mav_put_int32_t(buf, 12, lon);
 277     _mav_put_int32_t(buf, 16, alt);
 278     _mav_put_uint16_t(buf, 20, eph);
 279     _mav_put_uint16_t(buf, 22, epv);
 280     _mav_put_uint16_t(buf, 24, vel);
 281     _mav_put_int16_t(buf, 26, vn);
 282     _mav_put_int16_t(buf, 28, ve);
 283     _mav_put_int16_t(buf, 30, vd);
 284     _mav_put_uint16_t(buf, 32, cog);
 285     _mav_put_uint8_t(buf, 34, fix_type);
 286     _mav_put_uint8_t(buf, 35, satellites_visible);
 287     _mav_put_uint8_t(buf, 36, id);
 288     _mav_put_uint16_t(buf, 37, yaw);
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 291 #else
 292     mavlink_hil_gps_t packet;
 293     packet.time_usec = time_usec;
 294     packet.lat = lat;
 295     packet.lon = lon;
 296     packet.alt = alt;
 297     packet.eph = eph;
 298     packet.epv = epv;
 299     packet.vel = vel;
 300     packet.vn = vn;
 301     packet.ve = ve;
 302     packet.vd = vd;
 303     packet.cog = cog;
 304     packet.fix_type = fix_type;
 305     packet.satellites_visible = satellites_visible;
 306     packet.id = id;
 307     packet.yaw = yaw;
 308
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 310 #endif
 311 }
 312
 313 /**
 314  * @brief Send a hil_gps message
 315  * @param chan MAVLink channel to send the message
 316  * @param struct The MAVLink struct to serialize
 317  */
 318 static inline void mavlink_msg_hil_gps_send_struct(mavlink_channel_t chan, const mavlink_hil_gps_t* hil_gps)
 319 {
 320 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 321     mavlink_msg_hil_gps_send(chan, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible, hil_gps->id, hil_gps->yaw);
 322 #else
 323     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)hil_gps, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 324 #endif
 325 }
 326
 327 #if MAVLINK_MSG_ID_HIL_GPS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 328 /*
 329   This varient of _send() can be used to save stack space by re-using
 330   memory from the receive buffer.  The caller provides a
 331   mavlink_message_t which is the size of a full mavlink message. This
 332   is usually the receive buffer for the channel, and allows a reply to an
 333   incoming message with minimum stack space usage.
 334  */
 335 static inline void mavlink_msg_hil_gps_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible, uint8_t id, uint16_t yaw)
 336 {
 337 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 338     char *buf = (char *)msgbuf;
 339     _mav_put_uint64_t(buf, 0, time_usec);
 340     _mav_put_int32_t(buf, 8, lat);
 341     _mav_put_int32_t(buf, 12, lon);
 342     _mav_put_int32_t(buf, 16, alt);
 343     _mav_put_uint16_t(buf, 20, eph);
 344     _mav_put_uint16_t(buf, 22, epv);
 345     _mav_put_uint16_t(buf, 24, vel);
 346     _mav_put_int16_t(buf, 26, vn);
 347     _mav_put_int16_t(buf, 28, ve);
 348     _mav_put_int16_t(buf, 30, vd);
 349     _mav_put_uint16_t(buf, 32, cog);
 350     _mav_put_uint8_t(buf, 34, fix_type);
 351     _mav_put_uint8_t(buf, 35, satellites_visible);
 352     _mav_put_uint8_t(buf, 36, id);
 353     _mav_put_uint16_t(buf, 37, yaw);
 354
 355     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 356 #else
 357     mavlink_hil_gps_t *packet = (mavlink_hil_gps_t *)msgbuf;
 358     packet->time_usec = time_usec;
 359     packet->lat = lat;
 360     packet->lon = lon;
 361     packet->alt = alt;
 362     packet->eph = eph;
 363     packet->epv = epv;
 364     packet->vel = vel;
 365     packet->vn = vn;
 366     packet->ve = ve;
 367     packet->vd = vd;
 368     packet->cog = cog;
 369     packet->fix_type = fix_type;
 370     packet->satellites_visible = satellites_visible;
 371     packet->id = id;
 372     packet->yaw = yaw;
 373
 374     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
 375 #endif
 376 }
 377 #endif
 378
 379 #endif
 380
 381 // MESSAGE HIL_GPS UNPACKING
 382
 383
 384 /**
 385  * @brief Get field time_usec from hil_gps message
 386  *
 387  * @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.
 388  */
 389 static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg)
 390 {
 391     return _MAV_RETURN_uint64_t(msg,  0);
 392 }
 393
 394 /**
 395  * @brief Get field fix_type from hil_gps message
 396  *
 397  * @return  0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
 398  */
 399 static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg)
 400 {
 401     return _MAV_RETURN_uint8_t(msg,  34);
 402 }
 403
 404 /**
 405  * @brief Get field lat from hil_gps message
 406  *
 407  * @return [degE7] Latitude (WGS84)
 408  */
 409 static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg)
 410 {
 411     return _MAV_RETURN_int32_t(msg,  8);
 412 }
 413
 414 /**
 415  * @brief Get field lon from hil_gps message
 416  *
 417  * @return [degE7] Longitude (WGS84)
 418  */
 419 static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg)
 420 {
 421     return _MAV_RETURN_int32_t(msg,  12);
 422 }
 423
 424 /**
 425  * @brief Get field alt from hil_gps message
 426  *
 427  * @return [mm] Altitude (MSL). Positive for up.
 428  */
 429 static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg)
 430 {
 431     return _MAV_RETURN_int32_t(msg,  16);
 432 }
 433
 434 /**
 435  * @brief Get field eph from hil_gps message
 436  *
 437  * @return  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 438  */
 439 static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
 440 {
 441     return _MAV_RETURN_uint16_t(msg,  20);
 442 }
 443
 444 /**
 445  * @brief Get field epv from hil_gps message
 446  *
 447  * @return  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 448  */
 449 static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
 450 {
 451     return _MAV_RETURN_uint16_t(msg,  22);
 452 }
 453
 454 /**
 455  * @brief Get field vel from hil_gps message
 456  *
 457  * @return [cm/s] GPS ground speed. If unknown, set to: 65535
 458  */
 459 static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg)
 460 {
 461     return _MAV_RETURN_uint16_t(msg,  24);
 462 }
 463
 464 /**
 465  * @brief Get field vn from hil_gps message
 466  *
 467  * @return [cm/s] GPS velocity in north direction in earth-fixed NED frame
 468  */
 469 static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg)
 470 {
 471     return _MAV_RETURN_int16_t(msg,  26);
 472 }
 473
 474 /**
 475  * @brief Get field ve from hil_gps message
 476  *
 477  * @return [cm/s] GPS velocity in east direction in earth-fixed NED frame
 478  */
 479 static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg)
 480 {
 481     return _MAV_RETURN_int16_t(msg,  28);
 482 }
 483
 484 /**
 485  * @brief Get field vd from hil_gps message
 486  *
 487  * @return [cm/s] GPS velocity in down direction in earth-fixed NED frame
 488  */
 489 static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg)
 490 {
 491     return _MAV_RETURN_int16_t(msg,  30);
 492 }
 493
 494 /**
 495  * @brief Get field cog from hil_gps message
 496  *
 497  * @return [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
 498  */
 499 static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg)
 500 {
 501     return _MAV_RETURN_uint16_t(msg,  32);
 502 }
 503
 504 /**
 505  * @brief Get field satellites_visible from hil_gps message
 506  *
 507  * @return  Number of satellites visible. If unknown, set to 255
 508  */
 509 static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg)
 510 {
 511     return _MAV_RETURN_uint8_t(msg,  35);
 512 }
 513
 514 /**
 515  * @brief Get field id from hil_gps message
 516  *
 517  * @return  GPS ID (zero indexed). Used for multiple GPS inputs
 518  */
 519 static inline uint8_t mavlink_msg_hil_gps_get_id(const mavlink_message_t* msg)
 520 {
 521     return _MAV_RETURN_uint8_t(msg,  36);
 522 }
 523
 524 /**
 525  * @brief Get field yaw from hil_gps message
 526  *
 527  * @return [cdeg] Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
 528  */
 529 static inline uint16_t mavlink_msg_hil_gps_get_yaw(const mavlink_message_t* msg)
 530 {
 531     return _MAV_RETURN_uint16_t(msg,  37);
 532 }
 533
 534 /**
 535  * @brief Decode a hil_gps message into a struct
 536  *
 537  * @param msg The message to decode
 538  * @param hil_gps C-struct to decode the message contents into
 539  */
 540 static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps)
 541 {
 542 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 543     hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg);
 544     hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg);
 545     hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg);
 546     hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg);
 547     hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg);
 548     hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg);
 549     hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg);
 550     hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg);
 551     hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg);
 552     hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg);
 553     hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg);
 554     hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg);
 555     hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg);
 556     hil_gps->id = mavlink_msg_hil_gps_get_id(msg);
 557     hil_gps->yaw = mavlink_msg_hil_gps_get_yaw(msg);
 558 #else
 559         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_GPS_LEN? msg->len : MAVLINK_MSG_ID_HIL_GPS_LEN;
 560         memset(hil_gps, 0, MAVLINK_MSG_ID_HIL_GPS_LEN);
 561     memcpy(hil_gps, _MAV_PAYLOAD(msg), len);
 562 #endif
 563 }