source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_altitude.h @ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 21.2 KB
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1// MESSAGE ALTITUDE PACKING
2
3#define MAVLINK_MSG_ID_ALTITUDE 141
4
5typedef struct MAVLINK_PACKED __mavlink_altitude_t
6{
7 uint64_t time_usec; /*< Timestamp (milliseconds since system boot)*/
8 float altitude_monotonic; /*< This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.*/
9 float altitude_amsl; /*< This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.*/
10 float altitude_local; /*< This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.*/
11 float altitude_relative; /*< This is the altitude above the home position. It resets on each change of the current home position.*/
12 float altitude_terrain; /*< This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.*/
13 float bottom_clearance; /*< This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.*/
14} mavlink_altitude_t;
15
16#define MAVLINK_MSG_ID_ALTITUDE_LEN 32
17#define MAVLINK_MSG_ID_ALTITUDE_MIN_LEN 32
18#define MAVLINK_MSG_ID_141_LEN 32
19#define MAVLINK_MSG_ID_141_MIN_LEN 32
20
21#define MAVLINK_MSG_ID_ALTITUDE_CRC 47
22#define MAVLINK_MSG_ID_141_CRC 47
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_ALTITUDE { \
28        141, \
29        "ALTITUDE", \
30        7, \
31        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
32         { "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
33         { "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
34         { "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
35         { "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
36         { "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
37         { "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_ALTITUDE { \
42        "ALTITUDE", \
43        7, \
44        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
45         { "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
46         { "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
47         { "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
48         { "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
49         { "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
50         { "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a altitude message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param time_usec Timestamp (milliseconds since system boot)
62 * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
63 * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
64 * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
65 * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
66 * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
67 * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
75        _mav_put_uint64_t(buf, 0, time_usec);
76        _mav_put_float(buf, 8, altitude_monotonic);
77        _mav_put_float(buf, 12, altitude_amsl);
78        _mav_put_float(buf, 16, altitude_local);
79        _mav_put_float(buf, 20, altitude_relative);
80        _mav_put_float(buf, 24, altitude_terrain);
81        _mav_put_float(buf, 28, bottom_clearance);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
84#else
85        mavlink_altitude_t packet;
86        packet.time_usec = time_usec;
87        packet.altitude_monotonic = altitude_monotonic;
88        packet.altitude_amsl = altitude_amsl;
89        packet.altitude_local = altitude_local;
90        packet.altitude_relative = altitude_relative;
91        packet.altitude_terrain = altitude_terrain;
92        packet.bottom_clearance = bottom_clearance;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDE_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_ALTITUDE;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
99}
100
101/**
102 * @brief Pack a altitude message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param time_usec Timestamp (milliseconds since system boot)
108 * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
109 * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
110 * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
111 * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
112 * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
113 * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           uint64_t time_usec,float altitude_monotonic,float altitude_amsl,float altitude_local,float altitude_relative,float altitude_terrain,float bottom_clearance)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
122        _mav_put_uint64_t(buf, 0, time_usec);
123        _mav_put_float(buf, 8, altitude_monotonic);
124        _mav_put_float(buf, 12, altitude_amsl);
125        _mav_put_float(buf, 16, altitude_local);
126        _mav_put_float(buf, 20, altitude_relative);
127        _mav_put_float(buf, 24, altitude_terrain);
128        _mav_put_float(buf, 28, bottom_clearance);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
131#else
132        mavlink_altitude_t packet;
133        packet.time_usec = time_usec;
134        packet.altitude_monotonic = altitude_monotonic;
135        packet.altitude_amsl = altitude_amsl;
136        packet.altitude_local = altitude_local;
137        packet.altitude_relative = altitude_relative;
138        packet.altitude_terrain = altitude_terrain;
139        packet.bottom_clearance = bottom_clearance;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDE_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_ALTITUDE;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
146}
147
148/**
149 * @brief Encode a altitude struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param altitude C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
157{
158        return mavlink_msg_altitude_pack(system_id, component_id, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
159}
160
161/**
162 * @brief Encode a altitude struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param altitude C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_altitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
171{
172        return mavlink_msg_altitude_pack_chan(system_id, component_id, chan, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
173}
174
175/**
176 * @brief Send a altitude message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param time_usec Timestamp (milliseconds since system boot)
180 * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
181 * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
182 * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
183 * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
184 * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
185 * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_altitude_send(mavlink_channel_t chan, uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
193        _mav_put_uint64_t(buf, 0, time_usec);
194        _mav_put_float(buf, 8, altitude_monotonic);
195        _mav_put_float(buf, 12, altitude_amsl);
196        _mav_put_float(buf, 16, altitude_local);
197        _mav_put_float(buf, 20, altitude_relative);
198        _mav_put_float(buf, 24, altitude_terrain);
199        _mav_put_float(buf, 28, bottom_clearance);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
202#else
203        mavlink_altitude_t packet;
204        packet.time_usec = time_usec;
205        packet.altitude_monotonic = altitude_monotonic;
206        packet.altitude_amsl = altitude_amsl;
207        packet.altitude_local = altitude_local;
208        packet.altitude_relative = altitude_relative;
209        packet.altitude_terrain = altitude_terrain;
210        packet.bottom_clearance = bottom_clearance;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
213#endif
214}
215
216/**
217 * @brief Send a altitude message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_altitude_send_struct(mavlink_channel_t chan, const mavlink_altitude_t* altitude)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_altitude_send(chan, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)altitude, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_ALTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232  This varient of _send() can be used to save stack space by re-using
233  memory from the receive buffer.  The caller provides a
234  mavlink_message_t which is the size of a full mavlink message. This
235  is usually the receive buffer for the channel, and allows a reply to an
236  incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_altitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_uint64_t(buf, 0, time_usec);
243        _mav_put_float(buf, 8, altitude_monotonic);
244        _mav_put_float(buf, 12, altitude_amsl);
245        _mav_put_float(buf, 16, altitude_local);
246        _mav_put_float(buf, 20, altitude_relative);
247        _mav_put_float(buf, 24, altitude_terrain);
248        _mav_put_float(buf, 28, bottom_clearance);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
251#else
252        mavlink_altitude_t *packet = (mavlink_altitude_t *)msgbuf;
253        packet->time_usec = time_usec;
254        packet->altitude_monotonic = altitude_monotonic;
255        packet->altitude_amsl = altitude_amsl;
256        packet->altitude_local = altitude_local;
257        packet->altitude_relative = altitude_relative;
258        packet->altitude_terrain = altitude_terrain;
259        packet->bottom_clearance = bottom_clearance;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)packet, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE ALTITUDE UNPACKING
269
270
271/**
272 * @brief Get field time_usec from altitude message
273 *
274 * @return Timestamp (milliseconds since system boot)
275 */
276static inline uint64_t mavlink_msg_altitude_get_time_usec(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_uint64_t(msg,  0);
279}
280
281/**
282 * @brief Get field altitude_monotonic from altitude message
283 *
284 * @return This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
285 */
286static inline float mavlink_msg_altitude_get_altitude_monotonic(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_float(msg,  8);
289}
290
291/**
292 * @brief Get field altitude_amsl from altitude message
293 *
294 * @return This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
295 */
296static inline float mavlink_msg_altitude_get_altitude_amsl(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_float(msg,  12);
299}
300
301/**
302 * @brief Get field altitude_local from altitude message
303 *
304 * @return This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
305 */
306static inline float mavlink_msg_altitude_get_altitude_local(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  16);
309}
310
311/**
312 * @brief Get field altitude_relative from altitude message
313 *
314 * @return This is the altitude above the home position. It resets on each change of the current home position.
315 */
316static inline float mavlink_msg_altitude_get_altitude_relative(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_float(msg,  20);
319}
320
321/**
322 * @brief Get field altitude_terrain from altitude message
323 *
324 * @return This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
325 */
326static inline float mavlink_msg_altitude_get_altitude_terrain(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_float(msg,  24);
329}
330
331/**
332 * @brief Get field bottom_clearance from altitude message
333 *
334 * @return This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
335 */
336static inline float mavlink_msg_altitude_get_bottom_clearance(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_float(msg,  28);
339}
340
341/**
342 * @brief Decode a altitude message into a struct
343 *
344 * @param msg The message to decode
345 * @param altitude C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_altitude_decode(const mavlink_message_t* msg, mavlink_altitude_t* altitude)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        altitude->time_usec = mavlink_msg_altitude_get_time_usec(msg);
351        altitude->altitude_monotonic = mavlink_msg_altitude_get_altitude_monotonic(msg);
352        altitude->altitude_amsl = mavlink_msg_altitude_get_altitude_amsl(msg);
353        altitude->altitude_local = mavlink_msg_altitude_get_altitude_local(msg);
354        altitude->altitude_relative = mavlink_msg_altitude_get_altitude_relative(msg);
355        altitude->altitude_terrain = mavlink_msg_altitude_get_altitude_terrain(msg);
356        altitude->bottom_clearance = mavlink_msg_altitude_get_bottom_clearance(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_ALTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ALTITUDE_LEN;
359        memset(altitude, 0, MAVLINK_MSG_ID_ALTITUDE_LEN);
360        memcpy(altitude, _MAV_PAYLOAD(msg), len);
361#endif
362}
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