[88] | 1 | // MESSAGE GLOBAL_POSITION_INT PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_global_position_int_t
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| 6 | {
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| 7 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
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| 8 | int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
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| 9 | int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
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| 10 | int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)*/
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| 11 | int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
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| 12 | int16_t vx; /*< Ground X Speed (Latitude, positive north), expressed as m/s * 100*/
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| 13 | int16_t vy; /*< Ground Y Speed (Longitude, positive east), expressed as m/s * 100*/
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| 14 | int16_t vz; /*< Ground Z Speed (Altitude, positive down), expressed as m/s * 100*/
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| 15 | uint16_t hdg; /*< Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
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| 16 | } mavlink_global_position_int_t;
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| 17 |
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| 18 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
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| 19 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
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| 20 | #define MAVLINK_MSG_ID_33_LEN 28
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| 21 | #define MAVLINK_MSG_ID_33_MIN_LEN 28
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| 22 |
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| 23 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
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| 24 | #define MAVLINK_MSG_ID_33_CRC 104
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| 25 |
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| 26 |
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| 27 |
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| 28 | #if MAVLINK_COMMAND_24BIT
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| 29 | #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
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| 30 | 33, \
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| 31 | "GLOBAL_POSITION_INT", \
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| 32 | 9, \
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| 33 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
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| 34 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
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| 35 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
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| 36 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
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| 37 | { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
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| 38 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
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| 39 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
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| 40 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
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| 41 | { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
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| 42 | } \
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| 43 | }
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| 44 | #else
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| 45 | #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
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| 46 | "GLOBAL_POSITION_INT", \
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| 47 | 9, \
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| 48 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
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| 49 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
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| 50 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
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| 51 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
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| 52 | { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
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| 53 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
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| 54 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
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| 55 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
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| 56 | { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
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| 57 | } \
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| 58 | }
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| 59 | #endif
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| 60 |
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| 61 | /**
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| 62 | * @brief Pack a global_position_int message
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| 63 | * @param system_id ID of this system
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| 64 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 65 | * @param msg The MAVLink message to compress the data into
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| 66 | *
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| 67 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 68 | * @param lat Latitude, expressed as degrees * 1E7
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| 69 | * @param lon Longitude, expressed as degrees * 1E7
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| 70 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
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| 71 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 72 | * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
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| 73 | * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
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| 74 | * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
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| 75 | * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 76 | * @return length of the message in bytes (excluding serial stream start sign)
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| 77 | */
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| 78 | static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 79 | uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
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| 80 | {
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| 81 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 82 | char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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| 83 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 84 | _mav_put_int32_t(buf, 4, lat);
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| 85 | _mav_put_int32_t(buf, 8, lon);
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| 86 | _mav_put_int32_t(buf, 12, alt);
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| 87 | _mav_put_int32_t(buf, 16, relative_alt);
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| 88 | _mav_put_int16_t(buf, 20, vx);
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| 89 | _mav_put_int16_t(buf, 22, vy);
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| 90 | _mav_put_int16_t(buf, 24, vz);
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| 91 | _mav_put_uint16_t(buf, 26, hdg);
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| 92 |
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| 93 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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| 94 | #else
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| 95 | mavlink_global_position_int_t packet;
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| 96 | packet.time_boot_ms = time_boot_ms;
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| 97 | packet.lat = lat;
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| 98 | packet.lon = lon;
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| 99 | packet.alt = alt;
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| 100 | packet.relative_alt = relative_alt;
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| 101 | packet.vx = vx;
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| 102 | packet.vy = vy;
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| 103 | packet.vz = vz;
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| 104 | packet.hdg = hdg;
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| 105 |
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| 106 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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| 107 | #endif
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| 108 |
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| 109 | msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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| 110 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 111 | }
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| 112 |
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| 113 | /**
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| 114 | * @brief Pack a global_position_int message on a channel
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| 115 | * @param system_id ID of this system
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| 116 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 117 | * @param chan The MAVLink channel this message will be sent over
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| 118 | * @param msg The MAVLink message to compress the data into
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| 119 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 120 | * @param lat Latitude, expressed as degrees * 1E7
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| 121 | * @param lon Longitude, expressed as degrees * 1E7
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| 122 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
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| 123 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 124 | * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
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| 125 | * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
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| 126 | * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
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| 127 | * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 128 | * @return length of the message in bytes (excluding serial stream start sign)
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| 129 | */
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| 130 | static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 131 | mavlink_message_t* msg,
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| 132 | uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
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| 133 | {
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| 134 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 135 | char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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| 136 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 137 | _mav_put_int32_t(buf, 4, lat);
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| 138 | _mav_put_int32_t(buf, 8, lon);
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| 139 | _mav_put_int32_t(buf, 12, alt);
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| 140 | _mav_put_int32_t(buf, 16, relative_alt);
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| 141 | _mav_put_int16_t(buf, 20, vx);
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| 142 | _mav_put_int16_t(buf, 22, vy);
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| 143 | _mav_put_int16_t(buf, 24, vz);
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| 144 | _mav_put_uint16_t(buf, 26, hdg);
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| 145 |
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| 146 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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| 147 | #else
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| 148 | mavlink_global_position_int_t packet;
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| 149 | packet.time_boot_ms = time_boot_ms;
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| 150 | packet.lat = lat;
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| 151 | packet.lon = lon;
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| 152 | packet.alt = alt;
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| 153 | packet.relative_alt = relative_alt;
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| 154 | packet.vx = vx;
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| 155 | packet.vy = vy;
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| 156 | packet.vz = vz;
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| 157 | packet.hdg = hdg;
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| 158 |
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| 159 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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| 160 | #endif
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| 161 |
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| 162 | msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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| 163 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 164 | }
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| 165 |
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| 166 | /**
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| 167 | * @brief Encode a global_position_int struct
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| 168 | *
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| 169 | * @param system_id ID of this system
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| 170 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 171 | * @param msg The MAVLink message to compress the data into
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| 172 | * @param global_position_int C-struct to read the message contents from
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| 173 | */
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| 174 | static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
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| 175 | {
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| 176 | return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
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| 177 | }
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| 178 |
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| 179 | /**
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| 180 | * @brief Encode a global_position_int struct on a channel
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| 181 | *
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| 182 | * @param system_id ID of this system
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| 183 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 184 | * @param chan The MAVLink channel this message will be sent over
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| 185 | * @param msg The MAVLink message to compress the data into
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| 186 | * @param global_position_int C-struct to read the message contents from
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| 187 | */
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| 188 | static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
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| 189 | {
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| 190 | return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
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| 191 | }
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| 192 |
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| 193 | /**
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| 194 | * @brief Send a global_position_int message
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| 195 | * @param chan MAVLink channel to send the message
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| 196 | *
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| 197 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 198 | * @param lat Latitude, expressed as degrees * 1E7
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| 199 | * @param lon Longitude, expressed as degrees * 1E7
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| 200 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
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| 201 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 202 | * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
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| 203 | * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
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| 204 | * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
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| 205 | * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 206 | */
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| 207 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 208 |
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| 209 | static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
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| 210 | {
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| 211 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 212 | char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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| 213 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 214 | _mav_put_int32_t(buf, 4, lat);
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| 215 | _mav_put_int32_t(buf, 8, lon);
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| 216 | _mav_put_int32_t(buf, 12, alt);
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| 217 | _mav_put_int32_t(buf, 16, relative_alt);
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| 218 | _mav_put_int16_t(buf, 20, vx);
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| 219 | _mav_put_int16_t(buf, 22, vy);
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| 220 | _mav_put_int16_t(buf, 24, vz);
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| 221 | _mav_put_uint16_t(buf, 26, hdg);
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| 222 |
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| 223 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 224 | #else
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| 225 | mavlink_global_position_int_t packet;
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| 226 | packet.time_boot_ms = time_boot_ms;
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| 227 | packet.lat = lat;
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| 228 | packet.lon = lon;
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| 229 | packet.alt = alt;
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| 230 | packet.relative_alt = relative_alt;
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| 231 | packet.vx = vx;
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| 232 | packet.vy = vy;
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| 233 | packet.vz = vz;
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| 234 | packet.hdg = hdg;
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| 235 |
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| 236 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 237 | #endif
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| 238 | }
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| 239 |
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| 240 | /**
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| 241 | * @brief Send a global_position_int message
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| 242 | * @param chan MAVLink channel to send the message
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| 243 | * @param struct The MAVLink struct to serialize
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| 244 | */
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| 245 | static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
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| 246 | {
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| 247 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 248 | mavlink_msg_global_position_int_send(chan, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
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| 249 | #else
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| 250 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 251 | #endif
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| 252 | }
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| 253 |
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| 254 | #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 255 | /*
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| 256 | This varient of _send() can be used to save stack space by re-using
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| 257 | memory from the receive buffer. The caller provides a
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| 258 | mavlink_message_t which is the size of a full mavlink message. This
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| 259 | is usually the receive buffer for the channel, and allows a reply to an
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| 260 | incoming message with minimum stack space usage.
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| 261 | */
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| 262 | static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
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| 263 | {
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| 264 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 265 | char *buf = (char *)msgbuf;
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| 266 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 267 | _mav_put_int32_t(buf, 4, lat);
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| 268 | _mav_put_int32_t(buf, 8, lon);
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| 269 | _mav_put_int32_t(buf, 12, alt);
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| 270 | _mav_put_int32_t(buf, 16, relative_alt);
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| 271 | _mav_put_int16_t(buf, 20, vx);
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| 272 | _mav_put_int16_t(buf, 22, vy);
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| 273 | _mav_put_int16_t(buf, 24, vz);
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| 274 | _mav_put_uint16_t(buf, 26, hdg);
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| 275 |
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| 276 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 277 | #else
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| 278 | mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
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| 279 | packet->time_boot_ms = time_boot_ms;
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| 280 | packet->lat = lat;
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| 281 | packet->lon = lon;
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| 282 | packet->alt = alt;
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| 283 | packet->relative_alt = relative_alt;
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| 284 | packet->vx = vx;
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| 285 | packet->vy = vy;
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| 286 | packet->vz = vz;
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| 287 | packet->hdg = hdg;
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| 288 |
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| 289 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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| 290 | #endif
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| 291 | }
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| 292 | #endif
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| 293 |
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| 294 | #endif
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| 295 |
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| 296 | // MESSAGE GLOBAL_POSITION_INT UNPACKING
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| 297 |
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| 298 |
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| 299 | /**
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| 300 | * @brief Get field time_boot_ms from global_position_int message
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| 301 | *
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| 302 | * @return Timestamp (milliseconds since system boot)
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| 303 | */
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| 304 | static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
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| 305 | {
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| 306 | return _MAV_RETURN_uint32_t(msg, 0);
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| 307 | }
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| 308 |
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| 309 | /**
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| 310 | * @brief Get field lat from global_position_int message
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| 311 | *
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| 312 | * @return Latitude, expressed as degrees * 1E7
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| 313 | */
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| 314 | static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
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| 315 | {
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| 316 | return _MAV_RETURN_int32_t(msg, 4);
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| 317 | }
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| 318 |
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| 319 | /**
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| 320 | * @brief Get field lon from global_position_int message
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| 321 | *
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| 322 | * @return Longitude, expressed as degrees * 1E7
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| 323 | */
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| 324 | static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
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| 325 | {
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| 326 | return _MAV_RETURN_int32_t(msg, 8);
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| 327 | }
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| 328 |
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| 329 | /**
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| 330 | * @brief Get field alt from global_position_int message
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| 331 | *
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| 332 | * @return Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
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| 333 | */
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| 334 | static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
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| 335 | {
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| 336 | return _MAV_RETURN_int32_t(msg, 12);
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| 337 | }
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| 338 |
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| 339 | /**
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| 340 | * @brief Get field relative_alt from global_position_int message
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| 341 | *
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| 342 | * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 343 | */
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| 344 | static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
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| 345 | {
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| 346 | return _MAV_RETURN_int32_t(msg, 16);
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| 347 | }
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| 348 |
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| 349 | /**
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| 350 | * @brief Get field vx from global_position_int message
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| 351 | *
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| 352 | * @return Ground X Speed (Latitude, positive north), expressed as m/s * 100
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| 353 | */
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| 354 | static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
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| 355 | {
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| 356 | return _MAV_RETURN_int16_t(msg, 20);
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| 357 | }
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| 358 |
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| 359 | /**
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| 360 | * @brief Get field vy from global_position_int message
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| 361 | *
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| 362 | * @return Ground Y Speed (Longitude, positive east), expressed as m/s * 100
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| 363 | */
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| 364 | static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
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| 365 | {
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| 366 | return _MAV_RETURN_int16_t(msg, 22);
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| 367 | }
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| 368 |
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| 369 | /**
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| 370 | * @brief Get field vz from global_position_int message
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| 371 | *
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| 372 | * @return Ground Z Speed (Altitude, positive down), expressed as m/s * 100
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| 373 | */
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| 374 | static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
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| 375 | {
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| 376 | return _MAV_RETURN_int16_t(msg, 24);
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| 377 | }
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| 378 |
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| 379 | /**
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| 380 | * @brief Get field hdg from global_position_int message
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| 381 | *
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| 382 | * @return Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 383 | */
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| 384 | static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
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| 385 | {
|
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| 386 | return _MAV_RETURN_uint16_t(msg, 26);
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| 387 | }
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| 388 |
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| 389 | /**
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| 390 | * @brief Decode a global_position_int message into a struct
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| 391 | *
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| 392 | * @param msg The message to decode
|
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| 393 | * @param global_position_int C-struct to decode the message contents into
|
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| 394 | */
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| 395 | static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
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| 396 | {
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| 397 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
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| 398 | global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
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| 399 | global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
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| 400 | global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
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| 401 | global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
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| 402 | global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
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| 403 | global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
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| 404 | global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
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| 405 | global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
|
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| 406 | global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
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| 407 | #else
|
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| 408 | uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
|
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| 409 | memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
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| 410 | memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
|
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| 411 | #endif
|
---|
| 412 | }
|
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