flight/libraries/mavlink/v1.0/common/mavlink_msg_global_position_int.h

   1 // MESSAGE GLOBAL_POSITION_INT PACKING
   2
   3 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
   4
   5 typedef struct __mavlink_global_position_int_t {
   6     uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   7     int32_t  lat; ///< Latitude, expressed as * 1E7
   8     int32_t  lon; ///< Longitude, expressed as * 1E7
   9     int32_t  alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
  10     int32_t  relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
  11     int16_t  vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
  12     int16_t  vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
  13     int16_t  vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
  14     uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
  15 } mavlink_global_position_int_t;
  16
  17 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
  18 #define MAVLINK_MSG_ID_33_LEN                  28
  19
  20
  21 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT \
  22     { \
  23         "GLOBAL_POSITION_INT", \
  24         9, \
  25         { \
  26             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
  27             { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
  28             { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
  29             { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
  30             { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
  31             { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
  32             { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
  33             { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
  34             { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
  35         } \
  36     }
  37
  38
  39 /**
  40  * @brief Pack a global_position_int message
  41  * @param system_id ID of this system
  42  * @param component_id ID of this component (e.g. 200 for IMU)
  43  * @param msg The MAVLink message to compress the data into
  44  *
  45  * @param time_boot_ms Timestamp (milliseconds since system boot)
  46  * @param lat Latitude, expressed as * 1E7
  47  * @param lon Longitude, expressed as * 1E7
  48  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
  49  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
  50  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  51  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  52  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
  53  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
  54  * @return length of the message in bytes (excluding serial stream start sign)
  55  */
  56 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  57                                                             uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  58 {
  59 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  60     char buf[28];
  61     _mav_put_uint32_t(buf, 0, time_boot_ms);
  62     _mav_put_int32_t(buf, 4, lat);
  63     _mav_put_int32_t(buf, 8, lon);
  64     _mav_put_int32_t(buf, 12, alt);
  65     _mav_put_int32_t(buf, 16, relative_alt);
  66     _mav_put_int16_t(buf, 20, vx);
  67     _mav_put_int16_t(buf, 22, vy);
  68     _mav_put_int16_t(buf, 24, vz);
  69     _mav_put_uint16_t(buf, 26, hdg);
  70
  71     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
  72 #else
  73     mavlink_global_position_int_t packet;
  74     packet.time_boot_ms = time_boot_ms;
  75     packet.lat = lat;
  76     packet.lon = lon;
  77     packet.alt = alt;
  78     packet.relative_alt = relative_alt;
  79     packet.vx  = vx;
  80     packet.vy  = vy;
  81     packet.vz  = vz;
  82     packet.hdg = hdg;
  83
  84     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
  85 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  86
  87     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
  88     return mavlink_finalize_message(msg, system_id, component_id, 28, 104);
  89 }
  90
  91 /**
  92  * @brief Pack a global_position_int message on a channel
  93  * @param system_id ID of this system
  94  * @param component_id ID of this component (e.g. 200 for IMU)
  95  * @param chan The MAVLink channel this message was sent over
  96  * @param msg The MAVLink message to compress the data into
  97  * @param time_boot_ms Timestamp (milliseconds since system boot)
  98  * @param lat Latitude, expressed as * 1E7
  99  * @param lon Longitude, expressed as * 1E7
 100  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 101  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 102  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 103  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 104  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 105  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 106  * @return length of the message in bytes (excluding serial stream start sign)
 107  */
 108 static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 109                                                                  mavlink_message_t *msg,
 110                                                                  uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 111 {
 112 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 113     char buf[28];
 114     _mav_put_uint32_t(buf, 0, time_boot_ms);
 115     _mav_put_int32_t(buf, 4, lat);
 116     _mav_put_int32_t(buf, 8, lon);
 117     _mav_put_int32_t(buf, 12, alt);
 118     _mav_put_int32_t(buf, 16, relative_alt);
 119     _mav_put_int16_t(buf, 20, vx);
 120     _mav_put_int16_t(buf, 22, vy);
 121     _mav_put_int16_t(buf, 24, vz);
 122     _mav_put_uint16_t(buf, 26, hdg);
 123
 124     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
 125 #else
 126     mavlink_global_position_int_t packet;
 127     packet.time_boot_ms = time_boot_ms;
 128     packet.lat = lat;
 129     packet.lon = lon;
 130     packet.alt = alt;
 131     packet.relative_alt = relative_alt;
 132     packet.vx  = vx;
 133     packet.vy  = vy;
 134     packet.vz  = vz;
 135     packet.hdg = hdg;
 136
 137     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
 138 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 139
 140     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 104);
 142 }
 143
 144 /**
 145  * @brief Encode a global_position_int struct into a message
 146  *
 147  * @param system_id ID of this system
 148  * @param component_id ID of this component (e.g. 200 for IMU)
 149  * @param msg The MAVLink message to compress the data into
 150  * @param global_position_int C-struct to read the message contents from
 151  */
 152 static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_global_position_int_t *global_position_int)
 153 {
 154     return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 155 }
 156
 157 /**
 158  * @brief Send a global_position_int message
 159  * @param chan MAVLink channel to send the message
 160  *
 161  * @param time_boot_ms Timestamp (milliseconds since system boot)
 162  * @param lat Latitude, expressed as * 1E7
 163  * @param lon Longitude, expressed as * 1E7
 164  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 165  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 166  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 167  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 168  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 169  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 170  */
 171 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 172
 173 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 174 {
 175 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 176     char buf[28];
 177     _mav_put_uint32_t(buf, 0, time_boot_ms);
 178     _mav_put_int32_t(buf, 4, lat);
 179     _mav_put_int32_t(buf, 8, lon);
 180     _mav_put_int32_t(buf, 12, alt);
 181     _mav_put_int32_t(buf, 16, relative_alt);
 182     _mav_put_int16_t(buf, 20, vx);
 183     _mav_put_int16_t(buf, 22, vy);
 184     _mav_put_int16_t(buf, 24, vz);
 185     _mav_put_uint16_t(buf, 26, hdg);
 186
 187     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 28, 104);
 188 #else
 189     mavlink_global_position_int_t packet;
 190     packet.time_boot_ms = time_boot_ms;
 191     packet.lat = lat;
 192     packet.lon = lon;
 193     packet.alt = alt;
 194     packet.relative_alt = relative_alt;
 195     packet.vx  = vx;
 196     packet.vy  = vy;
 197     packet.vz  = vz;
 198     packet.hdg = hdg;
 199
 200     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 28, 104);
 201 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 202 }
 203
 204 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 205
 206 // MESSAGE GLOBAL_POSITION_INT UNPACKING
 207
 208
 209 /**
 210  * @brief Get field time_boot_ms from global_position_int message
 211  *
 212  * @return Timestamp (milliseconds since system boot)
 213  */
 214 static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t *msg)
 215 {
 216     return _MAV_RETURN_uint32_t(msg, 0);
 217 }
 218
 219 /**
 220  * @brief Get field lat from global_position_int message
 221  *
 222  * @return Latitude, expressed as * 1E7
 223  */
 224 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t *msg)
 225 {
 226     return _MAV_RETURN_int32_t(msg, 4);
 227 }
 228
 229 /**
 230  * @brief Get field lon from global_position_int message
 231  *
 232  * @return Longitude, expressed as * 1E7
 233  */
 234 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t *msg)
 235 {
 236     return _MAV_RETURN_int32_t(msg, 8);
 237 }
 238
 239 /**
 240  * @brief Get field alt from global_position_int message
 241  *
 242  * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
 243  */
 244 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t *msg)
 245 {
 246     return _MAV_RETURN_int32_t(msg, 12);
 247 }
 248
 249 /**
 250  * @brief Get field relative_alt from global_position_int message
 251  *
 252  * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 253  */
 254 static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t *msg)
 255 {
 256     return _MAV_RETURN_int32_t(msg, 16);
 257 }
 258
 259 /**
 260  * @brief Get field vx from global_position_int message
 261  *
 262  * @return Ground X Speed (Latitude), expressed as m/s * 100
 263  */
 264 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t *msg)
 265 {
 266     return _MAV_RETURN_int16_t(msg, 20);
 267 }
 268
 269 /**
 270  * @brief Get field vy from global_position_int message
 271  *
 272  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 273  */
 274 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t *msg)
 275 {
 276     return _MAV_RETURN_int16_t(msg, 22);
 277 }
 278
 279 /**
 280  * @brief Get field vz from global_position_int message
 281  *
 282  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 283  */
 284 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t *msg)
 285 {
 286     return _MAV_RETURN_int16_t(msg, 24);
 287 }
 288
 289 /**
 290  * @brief Get field hdg from global_position_int message
 291  *
 292  * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 293  */
 294 static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t *msg)
 295 {
 296     return _MAV_RETURN_uint16_t(msg, 26);
 297 }
 298
 299 /**
 300  * @brief Decode a global_position_int message into a struct
 301  *
 302  * @param msg The message to decode
 303  * @param global_position_int C-struct to decode the message contents into
 304  */
 305 static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t *msg, mavlink_global_position_int_t *global_position_int)
 306 {
 307 #if MAVLINK_NEED_BYTE_SWAP
 308     global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
 309     global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
 310     global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
 311     global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
 312     global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
 313     global_position_int->vx  = mavlink_msg_global_position_int_get_vx(msg);
 314     global_position_int->vy  = mavlink_msg_global_position_int_get_vy(msg);
 315     global_position_int->vz  = mavlink_msg_global_position_int_get_vz(msg);
 316     global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
 317 #else
 318     memcpy(global_position_int, _MAV_PAYLOAD(msg), 28);
 319 #endif
 320 }