// MESSAGE GLOBAL_POSITION_INT PACKING #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33 MAVPACKED( typedef struct __mavlink_global_position_int_t { uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/ int32_t lat; /*< Latitude, expressed as degrees * 1E7*/ int32_t lon; /*< Longitude, expressed as degrees * 1E7*/ int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)*/ int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/ int16_t vx; /*< Ground X Speed (Latitude, positive north), expressed as m/s * 100*/ int16_t vy; /*< Ground Y Speed (Longitude, positive east), expressed as m/s * 100*/ int16_t vz; /*< Ground Z Speed (Altitude, positive down), expressed as m/s * 100*/ uint16_t hdg; /*< Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/ }) mavlink_global_position_int_t; #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28 #define MAVLINK_MSG_ID_33_LEN 28 #define MAVLINK_MSG_ID_33_MIN_LEN 28 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104 #define MAVLINK_MSG_ID_33_CRC 104 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \ 33, \ "GLOBAL_POSITION_INT", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \ { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \ { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \ "GLOBAL_POSITION_INT", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \ { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \ { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \ } \ } #endif /** * @brief Pack a global_position_int message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100 * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, lat); _mav_put_int32_t(buf, 8, lon); _mav_put_int32_t(buf, 12, alt); _mav_put_int32_t(buf, 16, relative_alt); _mav_put_int16_t(buf, 20, vx); _mav_put_int16_t(buf, 22, vy); _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); #else mavlink_global_position_int_t packet; packet.time_boot_ms = time_boot_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.relative_alt = relative_alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.hdg = hdg; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); } /** * @brief Pack a global_position_int message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100 * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, lat); _mav_put_int32_t(buf, 8, lon); _mav_put_int32_t(buf, 12, alt); _mav_put_int32_t(buf, 16, relative_alt); _mav_put_int16_t(buf, 20, vx); _mav_put_int16_t(buf, 22, vy); _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); #else mavlink_global_position_int_t packet; packet.time_boot_ms = time_boot_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.relative_alt = relative_alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.hdg = hdg; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); } /** * @brief Encode a global_position_int struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param global_position_int C-struct to read the message contents from */ 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) { 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); } /** * @brief Encode a global_position_int struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param global_position_int C-struct to read the message contents from */ static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int) { return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, 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); } /** * @brief Send a global_position_int message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100 * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, lat); _mav_put_int32_t(buf, 8, lon); _mav_put_int32_t(buf, 12, alt); _mav_put_int32_t(buf, 16, relative_alt); _mav_put_int16_t(buf, 20, vx); _mav_put_int16_t(buf, 22, vy); _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); #else mavlink_global_position_int_t packet; packet.time_boot_ms = time_boot_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.relative_alt = relative_alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.hdg = hdg; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); #endif } /** * @brief Send a global_position_int message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_global_position_int_send(chan, 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); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); #endif } #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, lat); _mav_put_int32_t(buf, 8, lon); _mav_put_int32_t(buf, 12, alt); _mav_put_int32_t(buf, 16, relative_alt); _mav_put_int16_t(buf, 20, vx); _mav_put_int16_t(buf, 22, vy); _mav_put_int16_t(buf, 24, vz); _mav_put_uint16_t(buf, 26, hdg); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); #else mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->lat = lat; packet->lon = lon; packet->alt = alt; packet->relative_alt = relative_alt; packet->vx = vx; packet->vy = vy; packet->vz = vz; packet->hdg = hdg; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC); #endif } #endif #endif // MESSAGE GLOBAL_POSITION_INT UNPACKING /** * @brief Get field time_boot_ms from global_position_int message * * @return Timestamp (milliseconds since system boot) */ static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field lat from global_position_int message * * @return Latitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field lon from global_position_int message * * @return Longitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field alt from global_position_int message * * @return Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) */ static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field relative_alt from global_position_int message * * @return Altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field vx from global_position_int message * * @return Ground X Speed (Latitude, positive north), expressed as m/s * 100 */ static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field vy from global_position_int message * * @return Ground Y Speed (Longitude, positive east), expressed as m/s * 100 */ static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field vz from global_position_int message * * @return Ground Z Speed (Altitude, positive down), expressed as m/s * 100 */ static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 24); } /** * @brief Get field hdg from global_position_int message * * @return Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 26); } /** * @brief Decode a global_position_int message into a struct * * @param msg The message to decode * @param global_position_int C-struct to decode the message contents into */ static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg); global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg); global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg); global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg); global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg); global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg); global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg); global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg); global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN; memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); memcpy(global_position_int, _MAV_PAYLOAD(msg), len); #endif }