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

   1 // MESSAGE GPS_STATUS PACKING
   2
   3 #define MAVLINK_MSG_ID_GPS_STATUS 25
   4
   5 typedef struct __mavlink_gps_status_t {
   6     uint8_t satellites_visible; ///< Number of satellites visible
   7     uint8_t satellite_prn[20]; ///< Global satellite ID
   8     uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
   9     uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  10     uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
  11     uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
  12 } mavlink_gps_status_t;
  13
  14 #define MAVLINK_MSG_ID_GPS_STATUS_LEN                        101
  15 #define MAVLINK_MSG_ID_25_LEN                                101
  16
  17 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN       20
  18 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN      20
  19 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
  20 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN   20
  21 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN       20
  22
  23 #define MAVLINK_MESSAGE_INFO_GPS_STATUS \
  24     { \
  25         "GPS_STATUS", \
  26         6, \
  27         { \
  28             { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
  29             { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
  30             { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
  31             { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
  32             { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
  33             { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
  34         } \
  35     }
  36
  37
  38 /**
  39  * @brief Pack a gps_status message
  40  * @param system_id ID of this system
  41  * @param component_id ID of this component (e.g. 200 for IMU)
  42  * @param msg The MAVLink message to compress the data into
  43  *
  44  * @param satellites_visible Number of satellites visible
  45  * @param satellite_prn Global satellite ID
  46  * @param satellite_used 0: Satellite not used, 1: used for localization
  47  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  48  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
  49  * @param satellite_snr Signal to noise ratio of satellite
  50  * @return length of the message in bytes (excluding serial stream start sign)
  51  */
  52 static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  53                                                    uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
  54 {
  55 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  56     char buf[101];
  57     _mav_put_uint8_t(buf, 0, satellites_visible);
  58     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
  59     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
  60     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
  61     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
  62     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
  63     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101);
  64 #else
  65     mavlink_gps_status_t packet;
  66     packet.satellites_visible = satellites_visible;
  67     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t) * 20);
  68     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t) * 20);
  69     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t) * 20);
  70     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t) * 20);
  71     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t) * 20);
  72     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101);
  73 #endif
  74
  75     msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
  76     return mavlink_finalize_message(msg, system_id, component_id, 101, 23);
  77 }
  78
  79 /**
  80  * @brief Pack a gps_status message on a channel
  81  * @param system_id ID of this system
  82  * @param component_id ID of this component (e.g. 200 for IMU)
  83  * @param chan The MAVLink channel this message was sent over
  84  * @param msg The MAVLink message to compress the data into
  85  * @param satellites_visible Number of satellites visible
  86  * @param satellite_prn Global satellite ID
  87  * @param satellite_used 0: Satellite not used, 1: used for localization
  88  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  89  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
  90  * @param satellite_snr Signal to noise ratio of satellite
  91  * @return length of the message in bytes (excluding serial stream start sign)
  92  */
  93 static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  94                                                         mavlink_message_t *msg,
  95                                                         uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
  96 {
  97 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  98     char buf[101];
  99     _mav_put_uint8_t(buf, 0, satellites_visible);
 100     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 101     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 102     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 103     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 104     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 105     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101);
 106 #else
 107     mavlink_gps_status_t packet;
 108     packet.satellites_visible = satellites_visible;
 109     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t) * 20);
 110     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t) * 20);
 111     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t) * 20);
 112     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t) * 20);
 113     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t) * 20);
 114     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101);
 115 #endif
 116
 117     msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
 118     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101, 23);
 119 }
 120
 121 /**
 122  * @brief Encode a gps_status struct into a message
 123  *
 124  * @param system_id ID of this system
 125  * @param component_id ID of this component (e.g. 200 for IMU)
 126  * @param msg The MAVLink message to compress the data into
 127  * @param gps_status C-struct to read the message contents from
 128  */
 129 static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_gps_status_t *gps_status)
 130 {
 131     return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 132 }
 133
 134 /**
 135  * @brief Send a gps_status message
 136  * @param chan MAVLink channel to send the message
 137  *
 138  * @param satellites_visible Number of satellites visible
 139  * @param satellite_prn Global satellite ID
 140  * @param satellite_used 0: Satellite not used, 1: used for localization
 141  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 142  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
 143  * @param satellite_snr Signal to noise ratio of satellite
 144  */
 145 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 146
 147 static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 148 {
 149 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 150     char buf[101];
 151     _mav_put_uint8_t(buf, 0, satellites_visible);
 152     _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 153     _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 154     _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 155     _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 156     _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 157     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101, 23);
 158 #else
 159     mavlink_gps_status_t packet;
 160     packet.satellites_visible = satellites_visible;
 161     mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t) * 20);
 162     mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t) * 20);
 163     mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t) * 20);
 164     mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t) * 20);
 165     mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t) * 20);
 166     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101, 23);
 167 #endif
 168 }
 169
 170 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 171
 172 // MESSAGE GPS_STATUS UNPACKING
 173
 174
 175 /**
 176  * @brief Get field satellites_visible from gps_status message
 177  *
 178  * @return Number of satellites visible
 179  */
 180 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t *msg)
 181 {
 182     return _MAV_RETURN_uint8_t(msg, 0);
 183 }
 184
 185 /**
 186  * @brief Get field satellite_prn from gps_status message
 187  *
 188  * @return Global satellite ID
 189  */
 190 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t *msg, uint8_t *satellite_prn)
 191 {
 192     return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20, 1);
 193 }
 194
 195 /**
 196  * @brief Get field satellite_used from gps_status message
 197  *
 198  * @return 0: Satellite not used, 1: used for localization
 199  */
 200 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t *msg, uint8_t *satellite_used)
 201 {
 202     return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20, 21);
 203 }
 204
 205 /**
 206  * @brief Get field satellite_elevation from gps_status message
 207  *
 208  * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 209  */
 210 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t *msg, uint8_t *satellite_elevation)
 211 {
 212     return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20, 41);
 213 }
 214
 215 /**
 216  * @brief Get field satellite_azimuth from gps_status message
 217  *
 218  * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
 219  */
 220 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t *msg, uint8_t *satellite_azimuth)
 221 {
 222     return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20, 61);
 223 }
 224
 225 /**
 226  * @brief Get field satellite_snr from gps_status message
 227  *
 228  * @return Signal to noise ratio of satellite
 229  */
 230 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t *msg, uint8_t *satellite_snr)
 231 {
 232     return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20, 81);
 233 }
 234
 235 /**
 236  * @brief Decode a gps_status message into a struct
 237  *
 238  * @param msg The message to decode
 239  * @param gps_status C-struct to decode the message contents into
 240  */
 241 static inline void mavlink_msg_gps_status_decode(const mavlink_message_t *msg, mavlink_gps_status_t *gps_status)
 242 {
 243 #if MAVLINK_NEED_BYTE_SWAP
 244     gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
 245     mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
 246     mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
 247     mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
 248     mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
 249     mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
 250 #else
 251     memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
 252 #endif
 253 }