1 | // MESSAGE GPS2_RTK PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_GPS2_RTK 128 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_gps2_rtk_t { |
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7 | uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received in ms.*/ |
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8 | uint32_t tow; /*< GPS Time of Week of last baseline*/ |
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9 | int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component in mm.*/ |
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10 | int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component in mm.*/ |
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11 | int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component in mm.*/ |
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12 | uint32_t accuracy; /*< Current estimate of baseline accuracy.*/ |
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13 | int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/ |
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14 | uint16_t wn; /*< GPS Week Number of last baseline*/ |
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15 | uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/ |
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16 | uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/ |
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17 | uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/ |
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18 | uint8_t nsats; /*< Current number of sats used for RTK calculation.*/ |
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19 | uint8_t baseline_coords_type; /*< Coordinate system of baseline. 0 == ECEF, 1 == NED*/ |
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20 | }) mavlink_gps2_rtk_t; |
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21 | |
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22 | #define MAVLINK_MSG_ID_GPS2_RTK_LEN 35 |
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23 | #define MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN 35 |
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24 | #define MAVLINK_MSG_ID_128_LEN 35 |
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25 | #define MAVLINK_MSG_ID_128_MIN_LEN 35 |
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26 | |
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27 | #define MAVLINK_MSG_ID_GPS2_RTK_CRC 226 |
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28 | #define MAVLINK_MSG_ID_128_CRC 226 |
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29 | |
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30 | |
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31 | |
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32 | #if MAVLINK_COMMAND_24BIT |
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33 | #define MAVLINK_MESSAGE_INFO_GPS2_RTK { \ |
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34 | 128, \ |
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35 | "GPS2_RTK", \ |
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36 | 13, \ |
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37 | { { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps2_rtk_t, time_last_baseline_ms) }, \ |
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38 | { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps2_rtk_t, tow) }, \ |
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39 | { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_rtk_t, baseline_a_mm) }, \ |
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40 | { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_rtk_t, baseline_b_mm) }, \ |
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41 | { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_rtk_t, baseline_c_mm) }, \ |
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42 | { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_rtk_t, accuracy) }, \ |
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43 | { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps2_rtk_t, iar_num_hypotheses) }, \ |
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44 | { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_rtk_t, wn) }, \ |
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45 | { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps2_rtk_t, rtk_receiver_id) }, \ |
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46 | { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps2_rtk_t, rtk_health) }, \ |
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47 | { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_rtk_t, rtk_rate) }, \ |
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48 | { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_rtk_t, nsats) }, \ |
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49 | { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_rtk_t, baseline_coords_type) }, \ |
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50 | } \ |
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51 | } |
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52 | #else |
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53 | #define MAVLINK_MESSAGE_INFO_GPS2_RTK { \ |
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54 | "GPS2_RTK", \ |
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55 | 13, \ |
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56 | { { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps2_rtk_t, time_last_baseline_ms) }, \ |
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57 | { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps2_rtk_t, tow) }, \ |
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58 | { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_rtk_t, baseline_a_mm) }, \ |
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59 | { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_rtk_t, baseline_b_mm) }, \ |
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60 | { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_rtk_t, baseline_c_mm) }, \ |
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61 | { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_rtk_t, accuracy) }, \ |
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62 | { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps2_rtk_t, iar_num_hypotheses) }, \ |
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63 | { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_rtk_t, wn) }, \ |
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64 | { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps2_rtk_t, rtk_receiver_id) }, \ |
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65 | { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps2_rtk_t, rtk_health) }, \ |
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66 | { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_rtk_t, rtk_rate) }, \ |
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67 | { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_rtk_t, nsats) }, \ |
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68 | { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_rtk_t, baseline_coords_type) }, \ |
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69 | } \ |
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70 | } |
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71 | #endif |
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72 | |
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73 | /** |
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74 | * @brief Pack a gps2_rtk message |
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75 | * @param system_id ID of this system |
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76 | * @param component_id ID of this component (e.g. 200 for IMU) |
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77 | * @param msg The MAVLink message to compress the data into |
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78 | * |
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79 | * @param time_last_baseline_ms Time since boot of last baseline message received in ms. |
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80 | * @param rtk_receiver_id Identification of connected RTK receiver. |
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81 | * @param wn GPS Week Number of last baseline |
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82 | * @param tow GPS Time of Week of last baseline |
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83 | * @param rtk_health GPS-specific health report for RTK data. |
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84 | * @param rtk_rate Rate of baseline messages being received by GPS, in HZ |
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85 | * @param nsats Current number of sats used for RTK calculation. |
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86 | * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED |
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87 | * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm. |
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88 | * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm. |
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89 | * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm. |
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90 | * @param accuracy Current estimate of baseline accuracy. |
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91 | * @param iar_num_hypotheses Current number of integer ambiguity hypotheses. |
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92 | * @return length of the message in bytes (excluding serial stream start sign) |
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93 | */ |
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94 | static inline uint16_t mavlink_msg_gps2_rtk_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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95 | uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses) |
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96 | { |
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97 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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98 | char buf[MAVLINK_MSG_ID_GPS2_RTK_LEN]; |
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99 | _mav_put_uint32_t(buf, 0, time_last_baseline_ms); |
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100 | _mav_put_uint32_t(buf, 4, tow); |
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101 | _mav_put_int32_t(buf, 8, baseline_a_mm); |
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102 | _mav_put_int32_t(buf, 12, baseline_b_mm); |
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103 | _mav_put_int32_t(buf, 16, baseline_c_mm); |
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104 | _mav_put_uint32_t(buf, 20, accuracy); |
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105 | _mav_put_int32_t(buf, 24, iar_num_hypotheses); |
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106 | _mav_put_uint16_t(buf, 28, wn); |
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107 | _mav_put_uint8_t(buf, 30, rtk_receiver_id); |
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108 | _mav_put_uint8_t(buf, 31, rtk_health); |
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109 | _mav_put_uint8_t(buf, 32, rtk_rate); |
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110 | _mav_put_uint8_t(buf, 33, nsats); |
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111 | _mav_put_uint8_t(buf, 34, baseline_coords_type); |
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112 | |
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113 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RTK_LEN); |
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114 | #else |
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115 | mavlink_gps2_rtk_t packet; |
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116 | packet.time_last_baseline_ms = time_last_baseline_ms; |
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117 | packet.tow = tow; |
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118 | packet.baseline_a_mm = baseline_a_mm; |
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119 | packet.baseline_b_mm = baseline_b_mm; |
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120 | packet.baseline_c_mm = baseline_c_mm; |
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121 | packet.accuracy = accuracy; |
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122 | packet.iar_num_hypotheses = iar_num_hypotheses; |
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123 | packet.wn = wn; |
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124 | packet.rtk_receiver_id = rtk_receiver_id; |
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125 | packet.rtk_health = rtk_health; |
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126 | packet.rtk_rate = rtk_rate; |
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127 | packet.nsats = nsats; |
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128 | packet.baseline_coords_type = baseline_coords_type; |
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129 | |
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130 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RTK_LEN); |
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131 | #endif |
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132 | |
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133 | msg->msgid = MAVLINK_MSG_ID_GPS2_RTK; |
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134 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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135 | } |
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136 | |
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137 | /** |
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138 | * @brief Pack a gps2_rtk message on a channel |
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139 | * @param system_id ID of this system |
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140 | * @param component_id ID of this component (e.g. 200 for IMU) |
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141 | * @param chan The MAVLink channel this message will be sent over |
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142 | * @param msg The MAVLink message to compress the data into |
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143 | * @param time_last_baseline_ms Time since boot of last baseline message received in ms. |
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144 | * @param rtk_receiver_id Identification of connected RTK receiver. |
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145 | * @param wn GPS Week Number of last baseline |
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146 | * @param tow GPS Time of Week of last baseline |
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147 | * @param rtk_health GPS-specific health report for RTK data. |
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148 | * @param rtk_rate Rate of baseline messages being received by GPS, in HZ |
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149 | * @param nsats Current number of sats used for RTK calculation. |
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150 | * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED |
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151 | * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm. |
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152 | * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm. |
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153 | * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm. |
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154 | * @param accuracy Current estimate of baseline accuracy. |
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155 | * @param iar_num_hypotheses Current number of integer ambiguity hypotheses. |
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156 | * @return length of the message in bytes (excluding serial stream start sign) |
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157 | */ |
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158 | static inline uint16_t mavlink_msg_gps2_rtk_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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159 | mavlink_message_t* msg, |
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160 | uint32_t time_last_baseline_ms,uint8_t rtk_receiver_id,uint16_t wn,uint32_t tow,uint8_t rtk_health,uint8_t rtk_rate,uint8_t nsats,uint8_t baseline_coords_type,int32_t baseline_a_mm,int32_t baseline_b_mm,int32_t baseline_c_mm,uint32_t accuracy,int32_t iar_num_hypotheses) |
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161 | { |
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162 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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163 | char buf[MAVLINK_MSG_ID_GPS2_RTK_LEN]; |
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164 | _mav_put_uint32_t(buf, 0, time_last_baseline_ms); |
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165 | _mav_put_uint32_t(buf, 4, tow); |
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166 | _mav_put_int32_t(buf, 8, baseline_a_mm); |
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167 | _mav_put_int32_t(buf, 12, baseline_b_mm); |
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168 | _mav_put_int32_t(buf, 16, baseline_c_mm); |
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169 | _mav_put_uint32_t(buf, 20, accuracy); |
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170 | _mav_put_int32_t(buf, 24, iar_num_hypotheses); |
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171 | _mav_put_uint16_t(buf, 28, wn); |
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172 | _mav_put_uint8_t(buf, 30, rtk_receiver_id); |
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173 | _mav_put_uint8_t(buf, 31, rtk_health); |
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174 | _mav_put_uint8_t(buf, 32, rtk_rate); |
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175 | _mav_put_uint8_t(buf, 33, nsats); |
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176 | _mav_put_uint8_t(buf, 34, baseline_coords_type); |
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177 | |
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178 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RTK_LEN); |
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179 | #else |
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180 | mavlink_gps2_rtk_t packet; |
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181 | packet.time_last_baseline_ms = time_last_baseline_ms; |
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182 | packet.tow = tow; |
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183 | packet.baseline_a_mm = baseline_a_mm; |
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184 | packet.baseline_b_mm = baseline_b_mm; |
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185 | packet.baseline_c_mm = baseline_c_mm; |
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186 | packet.accuracy = accuracy; |
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187 | packet.iar_num_hypotheses = iar_num_hypotheses; |
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188 | packet.wn = wn; |
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189 | packet.rtk_receiver_id = rtk_receiver_id; |
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190 | packet.rtk_health = rtk_health; |
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191 | packet.rtk_rate = rtk_rate; |
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192 | packet.nsats = nsats; |
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193 | packet.baseline_coords_type = baseline_coords_type; |
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194 | |
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195 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RTK_LEN); |
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196 | #endif |
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197 | |
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198 | msg->msgid = MAVLINK_MSG_ID_GPS2_RTK; |
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199 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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200 | } |
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201 | |
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202 | /** |
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203 | * @brief Encode a gps2_rtk struct |
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204 | * |
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205 | * @param system_id ID of this system |
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206 | * @param component_id ID of this component (e.g. 200 for IMU) |
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207 | * @param msg The MAVLink message to compress the data into |
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208 | * @param gps2_rtk C-struct to read the message contents from |
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209 | */ |
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210 | static inline uint16_t mavlink_msg_gps2_rtk_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_rtk_t* gps2_rtk) |
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211 | { |
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212 | return mavlink_msg_gps2_rtk_pack(system_id, component_id, msg, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses); |
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213 | } |
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214 | |
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215 | /** |
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216 | * @brief Encode a gps2_rtk struct on a channel |
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217 | * |
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218 | * @param system_id ID of this system |
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219 | * @param component_id ID of this component (e.g. 200 for IMU) |
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220 | * @param chan The MAVLink channel this message will be sent over |
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221 | * @param msg The MAVLink message to compress the data into |
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222 | * @param gps2_rtk C-struct to read the message contents from |
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223 | */ |
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224 | static inline uint16_t mavlink_msg_gps2_rtk_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_rtk_t* gps2_rtk) |
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225 | { |
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226 | return mavlink_msg_gps2_rtk_pack_chan(system_id, component_id, chan, msg, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses); |
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227 | } |
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228 | |
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229 | /** |
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230 | * @brief Send a gps2_rtk message |
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231 | * @param chan MAVLink channel to send the message |
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232 | * |
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233 | * @param time_last_baseline_ms Time since boot of last baseline message received in ms. |
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234 | * @param rtk_receiver_id Identification of connected RTK receiver. |
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235 | * @param wn GPS Week Number of last baseline |
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236 | * @param tow GPS Time of Week of last baseline |
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237 | * @param rtk_health GPS-specific health report for RTK data. |
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238 | * @param rtk_rate Rate of baseline messages being received by GPS, in HZ |
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239 | * @param nsats Current number of sats used for RTK calculation. |
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240 | * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED |
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241 | * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm. |
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242 | * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm. |
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243 | * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm. |
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244 | * @param accuracy Current estimate of baseline accuracy. |
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245 | * @param iar_num_hypotheses Current number of integer ambiguity hypotheses. |
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246 | */ |
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247 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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248 | |
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249 | static inline void mavlink_msg_gps2_rtk_send(mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses) |
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250 | { |
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251 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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252 | char buf[MAVLINK_MSG_ID_GPS2_RTK_LEN]; |
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253 | _mav_put_uint32_t(buf, 0, time_last_baseline_ms); |
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254 | _mav_put_uint32_t(buf, 4, tow); |
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255 | _mav_put_int32_t(buf, 8, baseline_a_mm); |
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256 | _mav_put_int32_t(buf, 12, baseline_b_mm); |
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257 | _mav_put_int32_t(buf, 16, baseline_c_mm); |
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258 | _mav_put_uint32_t(buf, 20, accuracy); |
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259 | _mav_put_int32_t(buf, 24, iar_num_hypotheses); |
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260 | _mav_put_uint16_t(buf, 28, wn); |
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261 | _mav_put_uint8_t(buf, 30, rtk_receiver_id); |
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262 | _mav_put_uint8_t(buf, 31, rtk_health); |
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263 | _mav_put_uint8_t(buf, 32, rtk_rate); |
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264 | _mav_put_uint8_t(buf, 33, nsats); |
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265 | _mav_put_uint8_t(buf, 34, baseline_coords_type); |
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266 | |
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267 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, buf, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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268 | #else |
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269 | mavlink_gps2_rtk_t packet; |
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270 | packet.time_last_baseline_ms = time_last_baseline_ms; |
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271 | packet.tow = tow; |
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272 | packet.baseline_a_mm = baseline_a_mm; |
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273 | packet.baseline_b_mm = baseline_b_mm; |
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274 | packet.baseline_c_mm = baseline_c_mm; |
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275 | packet.accuracy = accuracy; |
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276 | packet.iar_num_hypotheses = iar_num_hypotheses; |
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277 | packet.wn = wn; |
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278 | packet.rtk_receiver_id = rtk_receiver_id; |
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279 | packet.rtk_health = rtk_health; |
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280 | packet.rtk_rate = rtk_rate; |
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281 | packet.nsats = nsats; |
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282 | packet.baseline_coords_type = baseline_coords_type; |
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283 | |
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284 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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285 | #endif |
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286 | } |
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287 | |
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288 | /** |
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289 | * @brief Send a gps2_rtk message |
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290 | * @param chan MAVLink channel to send the message |
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291 | * @param struct The MAVLink struct to serialize |
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292 | */ |
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293 | static inline void mavlink_msg_gps2_rtk_send_struct(mavlink_channel_t chan, const mavlink_gps2_rtk_t* gps2_rtk) |
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294 | { |
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295 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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296 | mavlink_msg_gps2_rtk_send(chan, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses); |
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297 | #else |
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298 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)gps2_rtk, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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299 | #endif |
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300 | } |
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301 | |
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302 | #if MAVLINK_MSG_ID_GPS2_RTK_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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303 | /* |
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304 | This varient of _send() can be used to save stack space by re-using |
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305 | memory from the receive buffer. The caller provides a |
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306 | mavlink_message_t which is the size of a full mavlink message. This |
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307 | is usually the receive buffer for the channel, and allows a reply to an |
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308 | incoming message with minimum stack space usage. |
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309 | */ |
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310 | static inline void mavlink_msg_gps2_rtk_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses) |
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311 | { |
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312 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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313 | char *buf = (char *)msgbuf; |
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314 | _mav_put_uint32_t(buf, 0, time_last_baseline_ms); |
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315 | _mav_put_uint32_t(buf, 4, tow); |
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316 | _mav_put_int32_t(buf, 8, baseline_a_mm); |
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317 | _mav_put_int32_t(buf, 12, baseline_b_mm); |
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318 | _mav_put_int32_t(buf, 16, baseline_c_mm); |
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319 | _mav_put_uint32_t(buf, 20, accuracy); |
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320 | _mav_put_int32_t(buf, 24, iar_num_hypotheses); |
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321 | _mav_put_uint16_t(buf, 28, wn); |
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322 | _mav_put_uint8_t(buf, 30, rtk_receiver_id); |
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323 | _mav_put_uint8_t(buf, 31, rtk_health); |
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324 | _mav_put_uint8_t(buf, 32, rtk_rate); |
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325 | _mav_put_uint8_t(buf, 33, nsats); |
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326 | _mav_put_uint8_t(buf, 34, baseline_coords_type); |
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327 | |
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328 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, buf, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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329 | #else |
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330 | mavlink_gps2_rtk_t *packet = (mavlink_gps2_rtk_t *)msgbuf; |
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331 | packet->time_last_baseline_ms = time_last_baseline_ms; |
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332 | packet->tow = tow; |
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333 | packet->baseline_a_mm = baseline_a_mm; |
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334 | packet->baseline_b_mm = baseline_b_mm; |
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335 | packet->baseline_c_mm = baseline_c_mm; |
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336 | packet->accuracy = accuracy; |
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337 | packet->iar_num_hypotheses = iar_num_hypotheses; |
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338 | packet->wn = wn; |
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339 | packet->rtk_receiver_id = rtk_receiver_id; |
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340 | packet->rtk_health = rtk_health; |
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341 | packet->rtk_rate = rtk_rate; |
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342 | packet->nsats = nsats; |
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343 | packet->baseline_coords_type = baseline_coords_type; |
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344 | |
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345 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC); |
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346 | #endif |
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347 | } |
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348 | #endif |
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349 | |
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350 | #endif |
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351 | |
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352 | // MESSAGE GPS2_RTK UNPACKING |
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353 | |
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354 | |
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355 | /** |
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356 | * @brief Get field time_last_baseline_ms from gps2_rtk message |
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357 | * |
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358 | * @return Time since boot of last baseline message received in ms. |
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359 | */ |
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360 | static inline uint32_t mavlink_msg_gps2_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg) |
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361 | { |
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362 | return _MAV_RETURN_uint32_t(msg, 0); |
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363 | } |
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364 | |
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365 | /** |
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366 | * @brief Get field rtk_receiver_id from gps2_rtk message |
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367 | * |
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368 | * @return Identification of connected RTK receiver. |
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369 | */ |
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370 | static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_receiver_id(const mavlink_message_t* msg) |
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371 | { |
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372 | return _MAV_RETURN_uint8_t(msg, 30); |
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373 | } |
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374 | |
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375 | /** |
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376 | * @brief Get field wn from gps2_rtk message |
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377 | * |
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378 | * @return GPS Week Number of last baseline |
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379 | */ |
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380 | static inline uint16_t mavlink_msg_gps2_rtk_get_wn(const mavlink_message_t* msg) |
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381 | { |
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382 | return _MAV_RETURN_uint16_t(msg, 28); |
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383 | } |
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384 | |
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385 | /** |
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386 | * @brief Get field tow from gps2_rtk message |
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387 | * |
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388 | * @return GPS Time of Week of last baseline |
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389 | */ |
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390 | static inline uint32_t mavlink_msg_gps2_rtk_get_tow(const mavlink_message_t* msg) |
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391 | { |
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392 | return _MAV_RETURN_uint32_t(msg, 4); |
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393 | } |
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394 | |
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395 | /** |
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396 | * @brief Get field rtk_health from gps2_rtk message |
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397 | * |
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398 | * @return GPS-specific health report for RTK data. |
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399 | */ |
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400 | static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_health(const mavlink_message_t* msg) |
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401 | { |
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402 | return _MAV_RETURN_uint8_t(msg, 31); |
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403 | } |
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404 | |
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405 | /** |
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406 | * @brief Get field rtk_rate from gps2_rtk message |
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407 | * |
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408 | * @return Rate of baseline messages being received by GPS, in HZ |
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409 | */ |
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410 | static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_rate(const mavlink_message_t* msg) |
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411 | { |
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412 | return _MAV_RETURN_uint8_t(msg, 32); |
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413 | } |
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414 | |
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415 | /** |
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416 | * @brief Get field nsats from gps2_rtk message |
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417 | * |
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418 | * @return Current number of sats used for RTK calculation. |
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419 | */ |
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420 | static inline uint8_t mavlink_msg_gps2_rtk_get_nsats(const mavlink_message_t* msg) |
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421 | { |
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422 | return _MAV_RETURN_uint8_t(msg, 33); |
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423 | } |
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424 | |
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425 | /** |
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426 | * @brief Get field baseline_coords_type from gps2_rtk message |
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427 | * |
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428 | * @return Coordinate system of baseline. 0 == ECEF, 1 == NED |
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429 | */ |
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430 | static inline uint8_t mavlink_msg_gps2_rtk_get_baseline_coords_type(const mavlink_message_t* msg) |
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431 | { |
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432 | return _MAV_RETURN_uint8_t(msg, 34); |
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433 | } |
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434 | |
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435 | /** |
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436 | * @brief Get field baseline_a_mm from gps2_rtk message |
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437 | * |
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438 | * @return Current baseline in ECEF x or NED north component in mm. |
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439 | */ |
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440 | static inline int32_t mavlink_msg_gps2_rtk_get_baseline_a_mm(const mavlink_message_t* msg) |
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441 | { |
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442 | return _MAV_RETURN_int32_t(msg, 8); |
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443 | } |
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444 | |
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445 | /** |
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446 | * @brief Get field baseline_b_mm from gps2_rtk message |
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447 | * |
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448 | * @return Current baseline in ECEF y or NED east component in mm. |
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449 | */ |
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450 | static inline int32_t mavlink_msg_gps2_rtk_get_baseline_b_mm(const mavlink_message_t* msg) |
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451 | { |
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452 | return _MAV_RETURN_int32_t(msg, 12); |
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453 | } |
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454 | |
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455 | /** |
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456 | * @brief Get field baseline_c_mm from gps2_rtk message |
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457 | * |
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458 | * @return Current baseline in ECEF z or NED down component in mm. |
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459 | */ |
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460 | static inline int32_t mavlink_msg_gps2_rtk_get_baseline_c_mm(const mavlink_message_t* msg) |
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461 | { |
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462 | return _MAV_RETURN_int32_t(msg, 16); |
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463 | } |
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464 | |
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465 | /** |
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466 | * @brief Get field accuracy from gps2_rtk message |
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467 | * |
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468 | * @return Current estimate of baseline accuracy. |
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469 | */ |
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470 | static inline uint32_t mavlink_msg_gps2_rtk_get_accuracy(const mavlink_message_t* msg) |
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471 | { |
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472 | return _MAV_RETURN_uint32_t(msg, 20); |
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473 | } |
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474 | |
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475 | /** |
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476 | * @brief Get field iar_num_hypotheses from gps2_rtk message |
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477 | * |
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478 | * @return Current number of integer ambiguity hypotheses. |
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479 | */ |
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480 | static inline int32_t mavlink_msg_gps2_rtk_get_iar_num_hypotheses(const mavlink_message_t* msg) |
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481 | { |
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482 | return _MAV_RETURN_int32_t(msg, 24); |
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483 | } |
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484 | |
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485 | /** |
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486 | * @brief Decode a gps2_rtk message into a struct |
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487 | * |
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488 | * @param msg The message to decode |
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489 | * @param gps2_rtk C-struct to decode the message contents into |
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490 | */ |
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491 | static inline void mavlink_msg_gps2_rtk_decode(const mavlink_message_t* msg, mavlink_gps2_rtk_t* gps2_rtk) |
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492 | { |
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493 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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494 | gps2_rtk->time_last_baseline_ms = mavlink_msg_gps2_rtk_get_time_last_baseline_ms(msg); |
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495 | gps2_rtk->tow = mavlink_msg_gps2_rtk_get_tow(msg); |
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496 | gps2_rtk->baseline_a_mm = mavlink_msg_gps2_rtk_get_baseline_a_mm(msg); |
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497 | gps2_rtk->baseline_b_mm = mavlink_msg_gps2_rtk_get_baseline_b_mm(msg); |
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498 | gps2_rtk->baseline_c_mm = mavlink_msg_gps2_rtk_get_baseline_c_mm(msg); |
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499 | gps2_rtk->accuracy = mavlink_msg_gps2_rtk_get_accuracy(msg); |
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500 | gps2_rtk->iar_num_hypotheses = mavlink_msg_gps2_rtk_get_iar_num_hypotheses(msg); |
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501 | gps2_rtk->wn = mavlink_msg_gps2_rtk_get_wn(msg); |
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502 | gps2_rtk->rtk_receiver_id = mavlink_msg_gps2_rtk_get_rtk_receiver_id(msg); |
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503 | gps2_rtk->rtk_health = mavlink_msg_gps2_rtk_get_rtk_health(msg); |
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504 | gps2_rtk->rtk_rate = mavlink_msg_gps2_rtk_get_rtk_rate(msg); |
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505 | gps2_rtk->nsats = mavlink_msg_gps2_rtk_get_nsats(msg); |
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506 | gps2_rtk->baseline_coords_type = mavlink_msg_gps2_rtk_get_baseline_coords_type(msg); |
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507 | #else |
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508 | uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RTK_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RTK_LEN; |
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509 | memset(gps2_rtk, 0, MAVLINK_MSG_ID_GPS2_RTK_LEN); |
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510 | memcpy(gps2_rtk, _MAV_PAYLOAD(msg), len); |
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511 | #endif |
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512 | } |
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