lib/main/MAVLink/common/mavlink_msg_set_gps_global_origin.h

   1 #pragma once
   2 // MESSAGE SET_GPS_GLOBAL_ORIGIN PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN 48
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_set_gps_global_origin_t {
   8  int32_t latitude; /*< [degE7] Latitude (WGS84)*/
   9  int32_t longitude; /*< [degE7] Longitude (WGS84)*/
  10  int32_t altitude; /*< [mm] Altitude (MSL). Positive for up.*/
  11  uint8_t target_system; /*<  System ID*/
  12  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.*/
  13 }) mavlink_set_gps_global_origin_t;
  14
  15 #define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN 21
  16 #define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN 13
  17 #define MAVLINK_MSG_ID_48_LEN 21
  18 #define MAVLINK_MSG_ID_48_MIN_LEN 13
  19
  20 #define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC 41
  21 #define MAVLINK_MSG_ID_48_CRC 41
  22
  23
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN { \
  27     48, \
  28     "SET_GPS_GLOBAL_ORIGIN", \
  29     5, \
  30     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_gps_global_origin_t, target_system) }, \
  31          { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_gps_global_origin_t, latitude) }, \
  32          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_gps_global_origin_t, longitude) }, \
  33          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_gps_global_origin_t, altitude) }, \
  34          { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 13, offsetof(mavlink_set_gps_global_origin_t, time_usec) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN { \
  39     "SET_GPS_GLOBAL_ORIGIN", \
  40     5, \
  41     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_gps_global_origin_t, target_system) }, \
  42          { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_gps_global_origin_t, latitude) }, \
  43          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_gps_global_origin_t, longitude) }, \
  44          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_gps_global_origin_t, altitude) }, \
  45          { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 13, offsetof(mavlink_set_gps_global_origin_t, time_usec) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a set_gps_global_origin message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param target_system  System ID
  57  * @param latitude [degE7] Latitude (WGS84)
  58  * @param longitude [degE7] Longitude (WGS84)
  59  * @param altitude [mm] Altitude (MSL). Positive for up.
  60  * @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.
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
  68     _mav_put_int32_t(buf, 0, latitude);
  69     _mav_put_int32_t(buf, 4, longitude);
  70     _mav_put_int32_t(buf, 8, altitude);
  71     _mav_put_uint8_t(buf, 12, target_system);
  72     _mav_put_uint64_t(buf, 13, time_usec);
  73
  74         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
  75 #else
  76     mavlink_set_gps_global_origin_t packet;
  77     packet.latitude = latitude;
  78     packet.longitude = longitude;
  79     packet.altitude = altitude;
  80     packet.target_system = target_system;
  81     packet.time_usec = time_usec;
  82
  83         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
  84 #endif
  85
  86     msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
  88 }
  89
  90 /**
  91  * @brief Pack a set_gps_global_origin message on a channel
  92  * @param system_id ID of this system
  93  * @param component_id ID of this component (e.g. 200 for IMU)
  94  * @param chan The MAVLink channel this message will be sent over
  95  * @param msg The MAVLink message to compress the data into
  96  * @param target_system  System ID
  97  * @param latitude [degE7] Latitude (WGS84)
  98  * @param longitude [degE7] Longitude (WGS84)
  99  * @param altitude [mm] Altitude (MSL). Positive for up.
 100  * @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.
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_set_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 104                                mavlink_message_t* msg,
 105                                    uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,uint64_t time_usec)
 106 {
 107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 108     char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
 109     _mav_put_int32_t(buf, 0, latitude);
 110     _mav_put_int32_t(buf, 4, longitude);
 111     _mav_put_int32_t(buf, 8, altitude);
 112     _mav_put_uint8_t(buf, 12, target_system);
 113     _mav_put_uint64_t(buf, 13, time_usec);
 114
 115         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
 116 #else
 117     mavlink_set_gps_global_origin_t packet;
 118     packet.latitude = latitude;
 119     packet.longitude = longitude;
 120     packet.altitude = altitude;
 121     packet.target_system = target_system;
 122     packet.time_usec = time_usec;
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
 125 #endif
 126
 127     msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
 128     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 129 }
 130
 131 /**
 132  * @brief Encode a set_gps_global_origin struct
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param msg The MAVLink message to compress the data into
 137  * @param set_gps_global_origin C-struct to read the message contents from
 138  */
 139 static inline uint16_t mavlink_msg_set_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
 140 {
 141     return mavlink_msg_set_gps_global_origin_pack(system_id, component_id, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude, set_gps_global_origin->time_usec);
 142 }
 143
 144 /**
 145  * @brief Encode a set_gps_global_origin struct on a channel
 146  *
 147  * @param system_id ID of this system
 148  * @param component_id ID of this component (e.g. 200 for IMU)
 149  * @param chan The MAVLink channel this message will be sent over
 150  * @param msg The MAVLink message to compress the data into
 151  * @param set_gps_global_origin C-struct to read the message contents from
 152  */
 153 static inline uint16_t mavlink_msg_set_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
 154 {
 155     return mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, chan, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude, set_gps_global_origin->time_usec);
 156 }
 157
 158 /**
 159  * @brief Send a set_gps_global_origin message
 160  * @param chan MAVLink channel to send the message
 161  *
 162  * @param target_system  System ID
 163  * @param latitude [degE7] Latitude (WGS84)
 164  * @param longitude [degE7] Longitude (WGS84)
 165  * @param altitude [mm] Altitude (MSL). Positive for up.
 166  * @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.
 167  */
 168 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 169
 170 static inline void mavlink_msg_set_gps_global_origin_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
 171 {
 172 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 173     char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
 174     _mav_put_int32_t(buf, 0, latitude);
 175     _mav_put_int32_t(buf, 4, longitude);
 176     _mav_put_int32_t(buf, 8, altitude);
 177     _mav_put_uint8_t(buf, 12, target_system);
 178     _mav_put_uint64_t(buf, 13, time_usec);
 179
 180     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 181 #else
 182     mavlink_set_gps_global_origin_t packet;
 183     packet.latitude = latitude;
 184     packet.longitude = longitude;
 185     packet.altitude = altitude;
 186     packet.target_system = target_system;
 187     packet.time_usec = time_usec;
 188
 189     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 190 #endif
 191 }
 192
 193 /**
 194  * @brief Send a set_gps_global_origin message
 195  * @param chan MAVLink channel to send the message
 196  * @param struct The MAVLink struct to serialize
 197  */
 198 static inline void mavlink_msg_set_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
 199 {
 200 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 201     mavlink_msg_set_gps_global_origin_send(chan, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude, set_gps_global_origin->time_usec);
 202 #else
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)set_gps_global_origin, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 204 #endif
 205 }
 206
 207 #if MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 208 /*
 209   This varient of _send() can be used to save stack space by re-using
 210   memory from the receive buffer.  The caller provides a
 211   mavlink_message_t which is the size of a full mavlink message. This
 212   is usually the receive buffer for the channel, and allows a reply to an
 213   incoming message with minimum stack space usage.
 214  */
 215 static inline void mavlink_msg_set_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
 216 {
 217 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 218     char *buf = (char *)msgbuf;
 219     _mav_put_int32_t(buf, 0, latitude);
 220     _mav_put_int32_t(buf, 4, longitude);
 221     _mav_put_int32_t(buf, 8, altitude);
 222     _mav_put_uint8_t(buf, 12, target_system);
 223     _mav_put_uint64_t(buf, 13, time_usec);
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 226 #else
 227     mavlink_set_gps_global_origin_t *packet = (mavlink_set_gps_global_origin_t *)msgbuf;
 228     packet->latitude = latitude;
 229     packet->longitude = longitude;
 230     packet->altitude = altitude;
 231     packet->target_system = target_system;
 232     packet->time_usec = time_usec;
 233
 234     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
 235 #endif
 236 }
 237 #endif
 238
 239 #endif
 240
 241 // MESSAGE SET_GPS_GLOBAL_ORIGIN UNPACKING
 242
 243
 244 /**
 245  * @brief Get field target_system from set_gps_global_origin message
 246  *
 247  * @return  System ID
 248  */
 249 static inline uint8_t mavlink_msg_set_gps_global_origin_get_target_system(const mavlink_message_t* msg)
 250 {
 251     return _MAV_RETURN_uint8_t(msg,  12);
 252 }
 253
 254 /**
 255  * @brief Get field latitude from set_gps_global_origin message
 256  *
 257  * @return [degE7] Latitude (WGS84)
 258  */
 259 static inline int32_t mavlink_msg_set_gps_global_origin_get_latitude(const mavlink_message_t* msg)
 260 {
 261     return _MAV_RETURN_int32_t(msg,  0);
 262 }
 263
 264 /**
 265  * @brief Get field longitude from set_gps_global_origin message
 266  *
 267  * @return [degE7] Longitude (WGS84)
 268  */
 269 static inline int32_t mavlink_msg_set_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 270 {
 271     return _MAV_RETURN_int32_t(msg,  4);
 272 }
 273
 274 /**
 275  * @brief Get field altitude from set_gps_global_origin message
 276  *
 277  * @return [mm] Altitude (MSL). Positive for up.
 278  */
 279 static inline int32_t mavlink_msg_set_gps_global_origin_get_altitude(const mavlink_message_t* msg)
 280 {
 281     return _MAV_RETURN_int32_t(msg,  8);
 282 }
 283
 284 /**
 285  * @brief Get field time_usec from set_gps_global_origin message
 286  *
 287  * @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.
 288  */
 289 static inline uint64_t mavlink_msg_set_gps_global_origin_get_time_usec(const mavlink_message_t* msg)
 290 {
 291     return _MAV_RETURN_uint64_t(msg,  13);
 292 }
 293
 294 /**
 295  * @brief Decode a set_gps_global_origin message into a struct
 296  *
 297  * @param msg The message to decode
 298  * @param set_gps_global_origin C-struct to decode the message contents into
 299  */
 300 static inline void mavlink_msg_set_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_set_gps_global_origin_t* set_gps_global_origin)
 301 {
 302 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 303     set_gps_global_origin->latitude = mavlink_msg_set_gps_global_origin_get_latitude(msg);
 304     set_gps_global_origin->longitude = mavlink_msg_set_gps_global_origin_get_longitude(msg);
 305     set_gps_global_origin->altitude = mavlink_msg_set_gps_global_origin_get_altitude(msg);
 306     set_gps_global_origin->target_system = mavlink_msg_set_gps_global_origin_get_target_system(msg);
 307     set_gps_global_origin->time_usec = mavlink_msg_set_gps_global_origin_get_time_usec(msg);
 308 #else
 309         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN;
 310         memset(set_gps_global_origin, 0, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
 311     memcpy(set_gps_global_origin, _MAV_PAYLOAD(msg), len);
 312 #endif
 313 }