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

   1 // MESSAGE GPS_RAW_INT PACKING
   2
   3 #define MAVLINK_MSG_ID_GPS_RAW_INT 24
   4
   5 typedef struct __mavlink_gps_raw_int_t {
   6     uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   7     int32_t  lat; ///< Latitude in 1E7 degrees
   8     int32_t  lon; ///< Longitude in 1E7 degrees
   9     int32_t  alt; ///< Altitude in 1E3 meters (millimeters) above MSL
  10     uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
  11     uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
  12     uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535
  13     uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
  14     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.
  15     uint8_t  satellites_visible; ///< Number of satellites visible. If unknown, set to 255
  16 } mavlink_gps_raw_int_t;
  17
  18 #define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30
  19 #define MAVLINK_MSG_ID_24_LEN          30
  20
  21
  22 #define MAVLINK_MESSAGE_INFO_GPS_RAW_INT \
  23     { \
  24         "GPS_RAW_INT", \
  25         10, \
  26         { \
  27             { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \
  28             { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \
  29             { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \
  30             { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \
  31             { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \
  32             { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \
  33             { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \
  34             { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \
  35             { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
  36             { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \
  37         } \
  38     }
  39
  40
  41 /**
  42  * @brief Pack a gps_raw_int message
  43  * @param system_id ID of this system
  44  * @param component_id ID of this component (e.g. 200 for IMU)
  45  * @param msg The MAVLink message to compress the data into
  46  *
  47  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  48  * @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.
  49  * @param lat Latitude in 1E7 degrees
  50  * @param lon Longitude in 1E7 degrees
  51  * @param alt Altitude in 1E3 meters (millimeters) above MSL
  52  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
  53  * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
  54  * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
  55  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
  56  * @param satellites_visible Number of satellites visible. If unknown, set to 255
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  60                                                     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, uint16_t cog, uint8_t satellites_visible)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[30];
  64     _mav_put_uint64_t(buf, 0, time_usec);
  65     _mav_put_int32_t(buf, 8, lat);
  66     _mav_put_int32_t(buf, 12, lon);
  67     _mav_put_int32_t(buf, 16, alt);
  68     _mav_put_uint16_t(buf, 20, eph);
  69     _mav_put_uint16_t(buf, 22, epv);
  70     _mav_put_uint16_t(buf, 24, vel);
  71     _mav_put_uint16_t(buf, 26, cog);
  72     _mav_put_uint8_t(buf, 28, fix_type);
  73     _mav_put_uint8_t(buf, 29, satellites_visible);
  74
  75     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
  76 #else
  77     mavlink_gps_raw_int_t packet;
  78     packet.time_usec = time_usec;
  79     packet.lat = lat;
  80     packet.lon = lon;
  81     packet.alt = alt;
  82     packet.eph = eph;
  83     packet.epv = epv;
  84     packet.vel = vel;
  85     packet.cog = cog;
  86     packet.fix_type = fix_type;
  87     packet.satellites_visible = satellites_visible;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
  90 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  91
  92     msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
  93     return mavlink_finalize_message(msg, system_id, component_id, 30, 24);
  94 }
  95
  96 /**
  97  * @brief Pack a gps_raw_int message on a channel
  98  * @param system_id ID of this system
  99  * @param component_id ID of this component (e.g. 200 for IMU)
 100  * @param chan The MAVLink channel this message was sent over
 101  * @param msg The MAVLink message to compress the data into
 102  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 103  * @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.
 104  * @param lat Latitude in 1E7 degrees
 105  * @param lon Longitude in 1E7 degrees
 106  * @param alt Altitude in 1E3 meters (millimeters) above MSL
 107  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 108  * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 109  * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
 110  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 111  * @param satellites_visible Number of satellites visible. If unknown, set to 255
 112  * @return length of the message in bytes (excluding serial stream start sign)
 113  */
 114 static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 115                                                          mavlink_message_t *msg,
 116                                                          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, uint16_t cog, uint8_t satellites_visible)
 117 {
 118 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 119     char buf[30];
 120     _mav_put_uint64_t(buf, 0, time_usec);
 121     _mav_put_int32_t(buf, 8, lat);
 122     _mav_put_int32_t(buf, 12, lon);
 123     _mav_put_int32_t(buf, 16, alt);
 124     _mav_put_uint16_t(buf, 20, eph);
 125     _mav_put_uint16_t(buf, 22, epv);
 126     _mav_put_uint16_t(buf, 24, vel);
 127     _mav_put_uint16_t(buf, 26, cog);
 128     _mav_put_uint8_t(buf, 28, fix_type);
 129     _mav_put_uint8_t(buf, 29, satellites_visible);
 130
 131     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 30);
 132 #else
 133     mavlink_gps_raw_int_t packet;
 134     packet.time_usec = time_usec;
 135     packet.lat = lat;
 136     packet.lon = lon;
 137     packet.alt = alt;
 138     packet.eph = eph;
 139     packet.epv = epv;
 140     packet.vel = vel;
 141     packet.cog = cog;
 142     packet.fix_type = fix_type;
 143     packet.satellites_visible = satellites_visible;
 144
 145     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 30);
 146 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 147
 148     msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
 149     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 24);
 150 }
 151
 152 /**
 153  * @brief Encode a gps_raw_int struct into a message
 154  *
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param msg The MAVLink message to compress the data into
 158  * @param gps_raw_int C-struct to read the message contents from
 159  */
 160 static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_gps_raw_int_t *gps_raw_int)
 161 {
 162     return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
 163 }
 164
 165 /**
 166  * @brief Send a gps_raw_int message
 167  * @param chan MAVLink channel to send the message
 168  *
 169  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 170  * @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.
 171  * @param lat Latitude in 1E7 degrees
 172  * @param lon Longitude in 1E7 degrees
 173  * @param alt Altitude in 1E3 meters (millimeters) above MSL
 174  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 175  * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 176  * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
 177  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 178  * @param satellites_visible Number of satellites visible. If unknown, set to 255
 179  */
 180 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 181
 182 static inline void mavlink_msg_gps_raw_int_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, uint16_t cog, uint8_t satellites_visible)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[30];
 186     _mav_put_uint64_t(buf, 0, time_usec);
 187     _mav_put_int32_t(buf, 8, lat);
 188     _mav_put_int32_t(buf, 12, lon);
 189     _mav_put_int32_t(buf, 16, alt);
 190     _mav_put_uint16_t(buf, 20, eph);
 191     _mav_put_uint16_t(buf, 22, epv);
 192     _mav_put_uint16_t(buf, 24, vel);
 193     _mav_put_uint16_t(buf, 26, cog);
 194     _mav_put_uint8_t(buf, 28, fix_type);
 195     _mav_put_uint8_t(buf, 29, satellites_visible);
 196
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 30, 24);
 198 #else
 199     mavlink_gps_raw_int_t packet;
 200     packet.time_usec = time_usec;
 201     packet.lat = lat;
 202     packet.lon = lon;
 203     packet.alt = alt;
 204     packet.eph = eph;
 205     packet.epv = epv;
 206     packet.vel = vel;
 207     packet.cog = cog;
 208     packet.fix_type = fix_type;
 209     packet.satellites_visible = satellites_visible;
 210
 211     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 30, 24);
 212 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213 }
 214
 215 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 216
 217 // MESSAGE GPS_RAW_INT UNPACKING
 218
 219
 220 /**
 221  * @brief Get field time_usec from gps_raw_int message
 222  *
 223  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 224  */
 225 static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t *msg)
 226 {
 227     return _MAV_RETURN_uint64_t(msg, 0);
 228 }
 229
 230 /**
 231  * @brief Get field fix_type from gps_raw_int message
 232  *
 233  * @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.
 234  */
 235 static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t *msg)
 236 {
 237     return _MAV_RETURN_uint8_t(msg, 28);
 238 }
 239
 240 /**
 241  * @brief Get field lat from gps_raw_int message
 242  *
 243  * @return Latitude in 1E7 degrees
 244  */
 245 static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t *msg)
 246 {
 247     return _MAV_RETURN_int32_t(msg, 8);
 248 }
 249
 250 /**
 251  * @brief Get field lon from gps_raw_int message
 252  *
 253  * @return Longitude in 1E7 degrees
 254  */
 255 static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t *msg)
 256 {
 257     return _MAV_RETURN_int32_t(msg, 12);
 258 }
 259
 260 /**
 261  * @brief Get field alt from gps_raw_int message
 262  *
 263  * @return Altitude in 1E3 meters (millimeters) above MSL
 264  */
 265 static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t *msg)
 266 {
 267     return _MAV_RETURN_int32_t(msg, 16);
 268 }
 269
 270 /**
 271  * @brief Get field eph from gps_raw_int message
 272  *
 273  * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 274  */
 275 static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t *msg)
 276 {
 277     return _MAV_RETURN_uint16_t(msg, 20);
 278 }
 279
 280 /**
 281  * @brief Get field epv from gps_raw_int message
 282  *
 283  * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
 284  */
 285 static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t *msg)
 286 {
 287     return _MAV_RETURN_uint16_t(msg, 22);
 288 }
 289
 290 /**
 291  * @brief Get field vel from gps_raw_int message
 292  *
 293  * @return GPS ground speed (m/s * 100). If unknown, set to: 65535
 294  */
 295 static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t *msg)
 296 {
 297     return _MAV_RETURN_uint16_t(msg, 24);
 298 }
 299
 300 /**
 301  * @brief Get field cog from gps_raw_int message
 302  *
 303  * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 304  */
 305 static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t *msg)
 306 {
 307     return _MAV_RETURN_uint16_t(msg, 26);
 308 }
 309
 310 /**
 311  * @brief Get field satellites_visible from gps_raw_int message
 312  *
 313  * @return Number of satellites visible. If unknown, set to 255
 314  */
 315 static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t *msg)
 316 {
 317     return _MAV_RETURN_uint8_t(msg, 29);
 318 }
 319
 320 /**
 321  * @brief Decode a gps_raw_int message into a struct
 322  *
 323  * @param msg The message to decode
 324  * @param gps_raw_int C-struct to decode the message contents into
 325  */
 326 static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t *msg, mavlink_gps_raw_int_t *gps_raw_int)
 327 {
 328 #if MAVLINK_NEED_BYTE_SWAP
 329     gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg);
 330     gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
 331     gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
 332     gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
 333     gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
 334     gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
 335     gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg);
 336     gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg);
 337     gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
 338     gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
 339 #else
 340     memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 30);
 341 #endif
 342 }