source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/common/mavlink_msg_gps_rtk.h @ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 5 years ago

Add the mavlink branch

File size: 22.6 KB
Line 
1// MESSAGE GPS_RTK PACKING
2
3#define MAVLINK_MSG_ID_GPS_RTK 127
4
5MAVPACKED(
6typedef struct __mavlink_gps_rtk_t {
7 uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received in ms.*/
8 uint32_t tow; /*< GPS Time of Week of last baseline*/
9 int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component in mm.*/
10 int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component in mm.*/
11 int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component in mm.*/
12 uint32_t accuracy; /*< Current estimate of baseline accuracy.*/
13 int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/
14 uint16_t wn; /*< GPS Week Number of last baseline*/
15 uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/
16 uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
17 uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
18 uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
19 uint8_t baseline_coords_type; /*< Coordinate system of baseline. 0 == ECEF, 1 == NED*/
20}) mavlink_gps_rtk_t;
21
22#define MAVLINK_MSG_ID_GPS_RTK_LEN 35
23#define MAVLINK_MSG_ID_GPS_RTK_MIN_LEN 35
24#define MAVLINK_MSG_ID_127_LEN 35
25#define MAVLINK_MSG_ID_127_MIN_LEN 35
26
27#define MAVLINK_MSG_ID_GPS_RTK_CRC 25
28#define MAVLINK_MSG_ID_127_CRC 25
29
30
31
32#if MAVLINK_COMMAND_24BIT
33#define MAVLINK_MESSAGE_INFO_GPS_RTK { \
34        127, \
35        "GPS_RTK", \
36        13, \
37        {  { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps_rtk_t, time_last_baseline_ms) }, \
38         { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps_rtk_t, tow) }, \
39         { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_rtk_t, baseline_a_mm) }, \
40         { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_rtk_t, baseline_b_mm) }, \
41         { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_rtk_t, baseline_c_mm) }, \
42         { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps_rtk_t, accuracy) }, \
43         { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps_rtk_t, iar_num_hypotheses) }, \
44         { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps_rtk_t, wn) }, \
45         { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps_rtk_t, rtk_receiver_id) }, \
46         { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps_rtk_t, rtk_health) }, \
47         { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps_rtk_t, rtk_rate) }, \
48         { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps_rtk_t, nsats) }, \
49         { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps_rtk_t, baseline_coords_type) }, \
50         } \
51}
52#else
53#define MAVLINK_MESSAGE_INFO_GPS_RTK { \
54        "GPS_RTK", \
55        13, \
56        {  { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps_rtk_t, time_last_baseline_ms) }, \
57         { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps_rtk_t, tow) }, \
58         { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_rtk_t, baseline_a_mm) }, \
59         { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_rtk_t, baseline_b_mm) }, \
60         { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_rtk_t, baseline_c_mm) }, \
61         { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps_rtk_t, accuracy) }, \
62         { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps_rtk_t, iar_num_hypotheses) }, \
63         { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps_rtk_t, wn) }, \
64         { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps_rtk_t, rtk_receiver_id) }, \
65         { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps_rtk_t, rtk_health) }, \
66         { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps_rtk_t, rtk_rate) }, \
67         { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps_rtk_t, nsats) }, \
68         { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps_rtk_t, baseline_coords_type) }, \
69         } \
70}
71#endif
72
73/**
74 * @brief Pack a gps_rtk message
75 * @param system_id ID of this system
76 * @param component_id ID of this component (e.g. 200 for IMU)
77 * @param msg The MAVLink message to compress the data into
78 *
79 * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
80 * @param rtk_receiver_id Identification of connected RTK receiver.
81 * @param wn GPS Week Number of last baseline
82 * @param tow GPS Time of Week of last baseline
83 * @param rtk_health GPS-specific health report for RTK data.
84 * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
85 * @param nsats Current number of sats used for RTK calculation.
86 * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
87 * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
88 * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
89 * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
90 * @param accuracy Current estimate of baseline accuracy.
91 * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
92 * @return length of the message in bytes (excluding serial stream start sign)
93 */
94static inline uint16_t mavlink_msg_gps_rtk_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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)
96{
97#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
98        char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
99        _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
100        _mav_put_uint32_t(buf, 4, tow);
101        _mav_put_int32_t(buf, 8, baseline_a_mm);
102        _mav_put_int32_t(buf, 12, baseline_b_mm);
103        _mav_put_int32_t(buf, 16, baseline_c_mm);
104        _mav_put_uint32_t(buf, 20, accuracy);
105        _mav_put_int32_t(buf, 24, iar_num_hypotheses);
106        _mav_put_uint16_t(buf, 28, wn);
107        _mav_put_uint8_t(buf, 30, rtk_receiver_id);
108        _mav_put_uint8_t(buf, 31, rtk_health);
109        _mav_put_uint8_t(buf, 32, rtk_rate);
110        _mav_put_uint8_t(buf, 33, nsats);
111        _mav_put_uint8_t(buf, 34, baseline_coords_type);
112
113        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
114#else
115        mavlink_gps_rtk_t packet;
116        packet.time_last_baseline_ms = time_last_baseline_ms;
117        packet.tow = tow;
118        packet.baseline_a_mm = baseline_a_mm;
119        packet.baseline_b_mm = baseline_b_mm;
120        packet.baseline_c_mm = baseline_c_mm;
121        packet.accuracy = accuracy;
122        packet.iar_num_hypotheses = iar_num_hypotheses;
123        packet.wn = wn;
124        packet.rtk_receiver_id = rtk_receiver_id;
125        packet.rtk_health = rtk_health;
126        packet.rtk_rate = rtk_rate;
127        packet.nsats = nsats;
128        packet.baseline_coords_type = baseline_coords_type;
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
131#endif
132
133        msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
134    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
135}
136
137/**
138 * @brief Pack a gps_rtk message on a channel
139 * @param system_id ID of this system
140 * @param component_id ID of this component (e.g. 200 for IMU)
141 * @param chan The MAVLink channel this message will be sent over
142 * @param msg The MAVLink message to compress the data into
143 * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
144 * @param rtk_receiver_id Identification of connected RTK receiver.
145 * @param wn GPS Week Number of last baseline
146 * @param tow GPS Time of Week of last baseline
147 * @param rtk_health GPS-specific health report for RTK data.
148 * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
149 * @param nsats Current number of sats used for RTK calculation.
150 * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
151 * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
152 * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
153 * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
154 * @param accuracy Current estimate of baseline accuracy.
155 * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
156 * @return length of the message in bytes (excluding serial stream start sign)
157 */
158static inline uint16_t mavlink_msg_gps_rtk_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
159                                                           mavlink_message_t* msg,
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)
161{
162#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
163        char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
164        _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
165        _mav_put_uint32_t(buf, 4, tow);
166        _mav_put_int32_t(buf, 8, baseline_a_mm);
167        _mav_put_int32_t(buf, 12, baseline_b_mm);
168        _mav_put_int32_t(buf, 16, baseline_c_mm);
169        _mav_put_uint32_t(buf, 20, accuracy);
170        _mav_put_int32_t(buf, 24, iar_num_hypotheses);
171        _mav_put_uint16_t(buf, 28, wn);
172        _mav_put_uint8_t(buf, 30, rtk_receiver_id);
173        _mav_put_uint8_t(buf, 31, rtk_health);
174        _mav_put_uint8_t(buf, 32, rtk_rate);
175        _mav_put_uint8_t(buf, 33, nsats);
176        _mav_put_uint8_t(buf, 34, baseline_coords_type);
177
178        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
179#else
180        mavlink_gps_rtk_t packet;
181        packet.time_last_baseline_ms = time_last_baseline_ms;
182        packet.tow = tow;
183        packet.baseline_a_mm = baseline_a_mm;
184        packet.baseline_b_mm = baseline_b_mm;
185        packet.baseline_c_mm = baseline_c_mm;
186        packet.accuracy = accuracy;
187        packet.iar_num_hypotheses = iar_num_hypotheses;
188        packet.wn = wn;
189        packet.rtk_receiver_id = rtk_receiver_id;
190        packet.rtk_health = rtk_health;
191        packet.rtk_rate = rtk_rate;
192        packet.nsats = nsats;
193        packet.baseline_coords_type = baseline_coords_type;
194
195        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
196#endif
197
198        msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
199    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
200}
201
202/**
203 * @brief Encode a gps_rtk struct
204 *
205 * @param system_id ID of this system
206 * @param component_id ID of this component (e.g. 200 for IMU)
207 * @param msg The MAVLink message to compress the data into
208 * @param gps_rtk C-struct to read the message contents from
209 */
210static inline uint16_t mavlink_msg_gps_rtk_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
211{
212        return mavlink_msg_gps_rtk_pack(system_id, component_id, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
213}
214
215/**
216 * @brief Encode a gps_rtk struct on a channel
217 *
218 * @param system_id ID of this system
219 * @param component_id ID of this component (e.g. 200 for IMU)
220 * @param chan The MAVLink channel this message will be sent over
221 * @param msg The MAVLink message to compress the data into
222 * @param gps_rtk C-struct to read the message contents from
223 */
224static inline uint16_t mavlink_msg_gps_rtk_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
225{
226        return mavlink_msg_gps_rtk_pack_chan(system_id, component_id, chan, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
227}
228
229/**
230 * @brief Send a gps_rtk message
231 * @param chan MAVLink channel to send the message
232 *
233 * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
234 * @param rtk_receiver_id Identification of connected RTK receiver.
235 * @param wn GPS Week Number of last baseline
236 * @param tow GPS Time of Week of last baseline
237 * @param rtk_health GPS-specific health report for RTK data.
238 * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
239 * @param nsats Current number of sats used for RTK calculation.
240 * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
241 * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
242 * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
243 * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
244 * @param accuracy Current estimate of baseline accuracy.
245 * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
246 */
247#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
248
249static inline void mavlink_msg_gps_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)
250{
251#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
252        char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
253        _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
254        _mav_put_uint32_t(buf, 4, tow);
255        _mav_put_int32_t(buf, 8, baseline_a_mm);
256        _mav_put_int32_t(buf, 12, baseline_b_mm);
257        _mav_put_int32_t(buf, 16, baseline_c_mm);
258        _mav_put_uint32_t(buf, 20, accuracy);
259        _mav_put_int32_t(buf, 24, iar_num_hypotheses);
260        _mav_put_uint16_t(buf, 28, wn);
261        _mav_put_uint8_t(buf, 30, rtk_receiver_id);
262        _mav_put_uint8_t(buf, 31, rtk_health);
263        _mav_put_uint8_t(buf, 32, rtk_rate);
264        _mav_put_uint8_t(buf, 33, nsats);
265        _mav_put_uint8_t(buf, 34, baseline_coords_type);
266
267    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
268#else
269        mavlink_gps_rtk_t packet;
270        packet.time_last_baseline_ms = time_last_baseline_ms;
271        packet.tow = tow;
272        packet.baseline_a_mm = baseline_a_mm;
273        packet.baseline_b_mm = baseline_b_mm;
274        packet.baseline_c_mm = baseline_c_mm;
275        packet.accuracy = accuracy;
276        packet.iar_num_hypotheses = iar_num_hypotheses;
277        packet.wn = wn;
278        packet.rtk_receiver_id = rtk_receiver_id;
279        packet.rtk_health = rtk_health;
280        packet.rtk_rate = rtk_rate;
281        packet.nsats = nsats;
282        packet.baseline_coords_type = baseline_coords_type;
283
284    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
285#endif
286}
287
288/**
289 * @brief Send a gps_rtk message
290 * @param chan MAVLink channel to send the message
291 * @param struct The MAVLink struct to serialize
292 */
293static inline void mavlink_msg_gps_rtk_send_struct(mavlink_channel_t chan, const mavlink_gps_rtk_t* gps_rtk)
294{
295#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
296    mavlink_msg_gps_rtk_send(chan, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
297#else
298    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)gps_rtk, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
299#endif
300}
301
302#if MAVLINK_MSG_ID_GPS_RTK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
303/*
304  This varient of _send() can be used to save stack space by re-using
305  memory from the receive buffer.  The caller provides a
306  mavlink_message_t which is the size of a full mavlink message. This
307  is usually the receive buffer for the channel, and allows a reply to an
308  incoming message with minimum stack space usage.
309 */
310static inline void mavlink_msg_gps_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)
311{
312#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
313        char *buf = (char *)msgbuf;
314        _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
315        _mav_put_uint32_t(buf, 4, tow);
316        _mav_put_int32_t(buf, 8, baseline_a_mm);
317        _mav_put_int32_t(buf, 12, baseline_b_mm);
318        _mav_put_int32_t(buf, 16, baseline_c_mm);
319        _mav_put_uint32_t(buf, 20, accuracy);
320        _mav_put_int32_t(buf, 24, iar_num_hypotheses);
321        _mav_put_uint16_t(buf, 28, wn);
322        _mav_put_uint8_t(buf, 30, rtk_receiver_id);
323        _mav_put_uint8_t(buf, 31, rtk_health);
324        _mav_put_uint8_t(buf, 32, rtk_rate);
325        _mav_put_uint8_t(buf, 33, nsats);
326        _mav_put_uint8_t(buf, 34, baseline_coords_type);
327
328    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
329#else
330        mavlink_gps_rtk_t *packet = (mavlink_gps_rtk_t *)msgbuf;
331        packet->time_last_baseline_ms = time_last_baseline_ms;
332        packet->tow = tow;
333        packet->baseline_a_mm = baseline_a_mm;
334        packet->baseline_b_mm = baseline_b_mm;
335        packet->baseline_c_mm = baseline_c_mm;
336        packet->accuracy = accuracy;
337        packet->iar_num_hypotheses = iar_num_hypotheses;
338        packet->wn = wn;
339        packet->rtk_receiver_id = rtk_receiver_id;
340        packet->rtk_health = rtk_health;
341        packet->rtk_rate = rtk_rate;
342        packet->nsats = nsats;
343        packet->baseline_coords_type = baseline_coords_type;
344
345    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
346#endif
347}
348#endif
349
350#endif
351
352// MESSAGE GPS_RTK UNPACKING
353
354
355/**
356 * @brief Get field time_last_baseline_ms from gps_rtk message
357 *
358 * @return Time since boot of last baseline message received in ms.
359 */
360static inline uint32_t mavlink_msg_gps_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
361{
362        return _MAV_RETURN_uint32_t(msg,  0);
363}
364
365/**
366 * @brief Get field rtk_receiver_id from gps_rtk message
367 *
368 * @return Identification of connected RTK receiver.
369 */
370static inline uint8_t mavlink_msg_gps_rtk_get_rtk_receiver_id(const mavlink_message_t* msg)
371{
372        return _MAV_RETURN_uint8_t(msg,  30);
373}
374
375/**
376 * @brief Get field wn from gps_rtk message
377 *
378 * @return GPS Week Number of last baseline
379 */
380static inline uint16_t mavlink_msg_gps_rtk_get_wn(const mavlink_message_t* msg)
381{
382        return _MAV_RETURN_uint16_t(msg,  28);
383}
384
385/**
386 * @brief Get field tow from gps_rtk message
387 *
388 * @return GPS Time of Week of last baseline
389 */
390static inline uint32_t mavlink_msg_gps_rtk_get_tow(const mavlink_message_t* msg)
391{
392        return _MAV_RETURN_uint32_t(msg,  4);
393}
394
395/**
396 * @brief Get field rtk_health from gps_rtk message
397 *
398 * @return GPS-specific health report for RTK data.
399 */
400static inline uint8_t mavlink_msg_gps_rtk_get_rtk_health(const mavlink_message_t* msg)
401{
402        return _MAV_RETURN_uint8_t(msg,  31);
403}
404
405/**
406 * @brief Get field rtk_rate from gps_rtk message
407 *
408 * @return Rate of baseline messages being received by GPS, in HZ
409 */
410static inline uint8_t mavlink_msg_gps_rtk_get_rtk_rate(const mavlink_message_t* msg)
411{
412        return _MAV_RETURN_uint8_t(msg,  32);
413}
414
415/**
416 * @brief Get field nsats from gps_rtk message
417 *
418 * @return Current number of sats used for RTK calculation.
419 */
420static inline uint8_t mavlink_msg_gps_rtk_get_nsats(const mavlink_message_t* msg)
421{
422        return _MAV_RETURN_uint8_t(msg,  33);
423}
424
425/**
426 * @brief Get field baseline_coords_type from gps_rtk message
427 *
428 * @return Coordinate system of baseline. 0 == ECEF, 1 == NED
429 */
430static inline uint8_t mavlink_msg_gps_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
431{
432        return _MAV_RETURN_uint8_t(msg,  34);
433}
434
435/**
436 * @brief Get field baseline_a_mm from gps_rtk message
437 *
438 * @return Current baseline in ECEF x or NED north component in mm.
439 */
440static inline int32_t mavlink_msg_gps_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
441{
442        return _MAV_RETURN_int32_t(msg,  8);
443}
444
445/**
446 * @brief Get field baseline_b_mm from gps_rtk message
447 *
448 * @return Current baseline in ECEF y or NED east component in mm.
449 */
450static inline int32_t mavlink_msg_gps_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
451{
452        return _MAV_RETURN_int32_t(msg,  12);
453}
454
455/**
456 * @brief Get field baseline_c_mm from gps_rtk message
457 *
458 * @return Current baseline in ECEF z or NED down component in mm.
459 */
460static inline int32_t mavlink_msg_gps_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
461{
462        return _MAV_RETURN_int32_t(msg,  16);
463}
464
465/**
466 * @brief Get field accuracy from gps_rtk message
467 *
468 * @return Current estimate of baseline accuracy.
469 */
470static inline uint32_t mavlink_msg_gps_rtk_get_accuracy(const mavlink_message_t* msg)
471{
472        return _MAV_RETURN_uint32_t(msg,  20);
473}
474
475/**
476 * @brief Get field iar_num_hypotheses from gps_rtk message
477 *
478 * @return Current number of integer ambiguity hypotheses.
479 */
480static inline int32_t mavlink_msg_gps_rtk_get_iar_num_hypotheses(const mavlink_message_t* msg)
481{
482        return _MAV_RETURN_int32_t(msg,  24);
483}
484
485/**
486 * @brief Decode a gps_rtk message into a struct
487 *
488 * @param msg The message to decode
489 * @param gps_rtk C-struct to decode the message contents into
490 */
491static inline void mavlink_msg_gps_rtk_decode(const mavlink_message_t* msg, mavlink_gps_rtk_t* gps_rtk)
492{
493#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
494        gps_rtk->time_last_baseline_ms = mavlink_msg_gps_rtk_get_time_last_baseline_ms(msg);
495        gps_rtk->tow = mavlink_msg_gps_rtk_get_tow(msg);
496        gps_rtk->baseline_a_mm = mavlink_msg_gps_rtk_get_baseline_a_mm(msg);
497        gps_rtk->baseline_b_mm = mavlink_msg_gps_rtk_get_baseline_b_mm(msg);
498        gps_rtk->baseline_c_mm = mavlink_msg_gps_rtk_get_baseline_c_mm(msg);
499        gps_rtk->accuracy = mavlink_msg_gps_rtk_get_accuracy(msg);
500        gps_rtk->iar_num_hypotheses = mavlink_msg_gps_rtk_get_iar_num_hypotheses(msg);
501        gps_rtk->wn = mavlink_msg_gps_rtk_get_wn(msg);
502        gps_rtk->rtk_receiver_id = mavlink_msg_gps_rtk_get_rtk_receiver_id(msg);
503        gps_rtk->rtk_health = mavlink_msg_gps_rtk_get_rtk_health(msg);
504        gps_rtk->rtk_rate = mavlink_msg_gps_rtk_get_rtk_rate(msg);
505        gps_rtk->nsats = mavlink_msg_gps_rtk_get_nsats(msg);
506        gps_rtk->baseline_coords_type = mavlink_msg_gps_rtk_get_baseline_coords_type(msg);
507#else
508        uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_RTK_LEN? msg->len : MAVLINK_MSG_ID_GPS_RTK_LEN;
509        memset(gps_rtk, 0, MAVLINK_MSG_ID_GPS_RTK_LEN);
510        memcpy(gps_rtk, _MAV_PAYLOAD(msg), len);
511#endif
512}
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