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

   1 // MESSAGE GPS_GLOBAL_ORIGIN PACKING
   2
   3 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
   4
   5 typedef struct __mavlink_gps_global_origin_t {
   6     int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
   7     int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
   8     int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
   9 } mavlink_gps_global_origin_t;
  10
  11 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
  12 #define MAVLINK_MSG_ID_49_LEN                12
  13
  14
  15 #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN \
  16     { \
  17         "GPS_GLOBAL_ORIGIN", \
  18         3, \
  19         { \
  20             { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
  21             { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
  22             { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
  23         } \
  24     }
  25
  26
  27 /**
  28  * @brief Pack a gps_global_origin message
  29  * @param system_id ID of this system
  30  * @param component_id ID of this component (e.g. 200 for IMU)
  31  * @param msg The MAVLink message to compress the data into
  32  *
  33  * @param latitude Latitude (WGS84), expressed as * 1E7
  34  * @param longitude Longitude (WGS84), expressed as * 1E7
  35  * @param altitude Altitude(WGS84), expressed as * 1000
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  39                                                           int32_t latitude, int32_t longitude, int32_t altitude)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42     char buf[12];
  43     _mav_put_int32_t(buf, 0, latitude);
  44     _mav_put_int32_t(buf, 4, longitude);
  45     _mav_put_int32_t(buf, 8, altitude);
  46
  47     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
  48 #else
  49     mavlink_gps_global_origin_t packet;
  50     packet.latitude  = latitude;
  51     packet.longitude = longitude;
  52     packet.altitude  = altitude;
  53
  54     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
  55 #endif
  56
  57     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
  58     return mavlink_finalize_message(msg, system_id, component_id, 12, 39);
  59 }
  60
  61 /**
  62  * @brief Pack a gps_global_origin message on a channel
  63  * @param system_id ID of this system
  64  * @param component_id ID of this component (e.g. 200 for IMU)
  65  * @param chan The MAVLink channel this message was sent over
  66  * @param msg The MAVLink message to compress the data into
  67  * @param latitude Latitude (WGS84), expressed as * 1E7
  68  * @param longitude Longitude (WGS84), expressed as * 1E7
  69  * @param altitude Altitude(WGS84), expressed as * 1000
  70  * @return length of the message in bytes (excluding serial stream start sign)
  71  */
  72 static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  73                                                                mavlink_message_t *msg,
  74                                                                int32_t latitude, int32_t longitude, int32_t altitude)
  75 {
  76 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  77     char buf[12];
  78     _mav_put_int32_t(buf, 0, latitude);
  79     _mav_put_int32_t(buf, 4, longitude);
  80     _mav_put_int32_t(buf, 8, altitude);
  81
  82     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
  83 #else
  84     mavlink_gps_global_origin_t packet;
  85     packet.latitude  = latitude;
  86     packet.longitude = longitude;
  87     packet.altitude  = altitude;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 39);
  94 }
  95
  96 /**
  97  * @brief Encode a gps_global_origin struct into a message
  98  *
  99  * @param system_id ID of this system
 100  * @param component_id ID of this component (e.g. 200 for IMU)
 101  * @param msg The MAVLink message to compress the data into
 102  * @param gps_global_origin C-struct to read the message contents from
 103  */
 104 static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_gps_global_origin_t *gps_global_origin)
 105 {
 106     return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
 107 }
 108
 109 /**
 110  * @brief Send a gps_global_origin message
 111  * @param chan MAVLink channel to send the message
 112  *
 113  * @param latitude Latitude (WGS84), expressed as * 1E7
 114  * @param longitude Longitude (WGS84), expressed as * 1E7
 115  * @param altitude Altitude(WGS84), expressed as * 1000
 116  */
 117 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 118
 119 static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[12];
 123     _mav_put_int32_t(buf, 0, latitude);
 124     _mav_put_int32_t(buf, 4, longitude);
 125     _mav_put_int32_t(buf, 8, altitude);
 126
 127     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, 12, 39);
 128 #else
 129     mavlink_gps_global_origin_t packet;
 130     packet.latitude  = latitude;
 131     packet.longitude = longitude;
 132     packet.altitude  = altitude;
 133
 134     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, 12, 39);
 135 #endif
 136 }
 137
 138 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 // MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
 141
 142
 143 /**
 144  * @brief Get field latitude from gps_global_origin message
 145  *
 146  * @return Latitude (WGS84), expressed as * 1E7
 147  */
 148 static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t *msg)
 149 {
 150     return _MAV_RETURN_int32_t(msg, 0);
 151 }
 152
 153 /**
 154  * @brief Get field longitude from gps_global_origin message
 155  *
 156  * @return Longitude (WGS84), expressed as * 1E7
 157  */
 158 static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t *msg)
 159 {
 160     return _MAV_RETURN_int32_t(msg, 4);
 161 }
 162
 163 /**
 164  * @brief Get field altitude from gps_global_origin message
 165  *
 166  * @return Altitude(WGS84), expressed as * 1000
 167  */
 168 static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t *msg)
 169 {
 170     return _MAV_RETURN_int32_t(msg, 8);
 171 }
 172
 173 /**
 174  * @brief Decode a gps_global_origin message into a struct
 175  *
 176  * @param msg The message to decode
 177  * @param gps_global_origin C-struct to decode the message contents into
 178  */
 179 static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t *msg, mavlink_gps_global_origin_t *gps_global_origin)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP
 182     gps_global_origin->latitude  = mavlink_msg_gps_global_origin_get_latitude(msg);
 183     gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
 184     gps_global_origin->altitude  = mavlink_msg_gps_global_origin_get_altitude(msg);
 185 #else
 186     memcpy(gps_global_origin, _MAV_PAYLOAD(msg), 12);
 187 #endif
 188 }