[88] | 1 | // MESSAGE GPS2_RAW PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_GPS2_RAW 124
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_gps2_raw_t
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| 6 | {
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| 7 | uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
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| 8 | int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
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| 9 | int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
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| 10 | int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/
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| 11 | uint32_t dgps_age; /*< Age of DGPS info*/
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| 12 | uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
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| 13 | uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
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| 14 | uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX*/
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| 15 | uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
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| 16 | uint8_t fix_type; /*< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.*/
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| 17 | uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
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| 18 | uint8_t dgps_numch; /*< Number of DGPS satellites*/
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| 19 | } mavlink_gps2_raw_t;
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| 20 |
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| 21 | #define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
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| 22 | #define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35
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| 23 | #define MAVLINK_MSG_ID_124_LEN 35
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| 24 | #define MAVLINK_MSG_ID_124_MIN_LEN 35
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| 25 |
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| 26 | #define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
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| 27 | #define MAVLINK_MSG_ID_124_CRC 87
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| 28 |
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| 29 |
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| 30 |
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| 31 | #if MAVLINK_COMMAND_24BIT
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| 32 | #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
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| 33 | 124, \
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| 34 | "GPS2_RAW", \
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| 35 | 12, \
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| 36 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
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| 37 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
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| 38 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
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| 39 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
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| 40 | { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
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| 41 | { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
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| 42 | { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
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| 43 | { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
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| 44 | { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
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| 45 | { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
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| 46 | { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
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| 47 | { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
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| 48 | } \
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| 49 | }
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| 50 | #else
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| 51 | #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
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| 52 | "GPS2_RAW", \
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| 53 | 12, \
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| 54 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
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| 55 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
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| 56 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
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| 57 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
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| 58 | { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
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| 59 | { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
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| 60 | { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
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| 61 | { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
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| 62 | { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
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| 63 | { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
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| 64 | { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
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| 65 | { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
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| 66 | } \
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| 67 | }
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| 68 | #endif
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| 69 |
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| 70 | /**
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| 71 | * @brief Pack a gps2_raw message
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| 72 | * @param system_id ID of this system
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| 73 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 74 | * @param msg The MAVLink message to compress the data into
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| 75 | *
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| 76 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 77 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
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| 78 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 79 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 80 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 81 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 82 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 83 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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| 84 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 85 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 86 | * @param dgps_numch Number of DGPS satellites
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| 87 | * @param dgps_age Age of DGPS info
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| 88 | * @return length of the message in bytes (excluding serial stream start sign)
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| 89 | */
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| 90 | static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 91 | uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
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| 92 | {
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| 93 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 94 | char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
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| 95 | _mav_put_uint64_t(buf, 0, time_usec);
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| 96 | _mav_put_int32_t(buf, 8, lat);
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| 97 | _mav_put_int32_t(buf, 12, lon);
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| 98 | _mav_put_int32_t(buf, 16, alt);
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| 99 | _mav_put_uint32_t(buf, 20, dgps_age);
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| 100 | _mav_put_uint16_t(buf, 24, eph);
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| 101 | _mav_put_uint16_t(buf, 26, epv);
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| 102 | _mav_put_uint16_t(buf, 28, vel);
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| 103 | _mav_put_uint16_t(buf, 30, cog);
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| 104 | _mav_put_uint8_t(buf, 32, fix_type);
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| 105 | _mav_put_uint8_t(buf, 33, satellites_visible);
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| 106 | _mav_put_uint8_t(buf, 34, dgps_numch);
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| 107 |
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| 108 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
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| 109 | #else
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| 110 | mavlink_gps2_raw_t packet;
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| 111 | packet.time_usec = time_usec;
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| 112 | packet.lat = lat;
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| 113 | packet.lon = lon;
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| 114 | packet.alt = alt;
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| 115 | packet.dgps_age = dgps_age;
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| 116 | packet.eph = eph;
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| 117 | packet.epv = epv;
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| 118 | packet.vel = vel;
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| 119 | packet.cog = cog;
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| 120 | packet.fix_type = fix_type;
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| 121 | packet.satellites_visible = satellites_visible;
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| 122 | packet.dgps_numch = dgps_numch;
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| 123 |
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| 124 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
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| 125 | #endif
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| 126 |
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| 127 | msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
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| 128 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
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| 129 | }
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| 130 |
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| 131 | /**
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| 132 | * @brief Pack a gps2_raw message on a channel
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| 133 | * @param system_id ID of this system
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| 134 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 135 | * @param chan The MAVLink channel this message will be sent over
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| 136 | * @param msg The MAVLink message to compress the data into
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| 137 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 138 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
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| 139 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 140 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 141 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 142 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 143 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 144 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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| 145 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 146 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 147 | * @param dgps_numch Number of DGPS satellites
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| 148 | * @param dgps_age Age of DGPS info
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| 149 | * @return length of the message in bytes (excluding serial stream start sign)
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| 150 | */
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| 151 | static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 152 | mavlink_message_t* msg,
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| 153 | uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible,uint8_t dgps_numch,uint32_t dgps_age)
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| 154 | {
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| 155 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 156 | char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
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| 157 | _mav_put_uint64_t(buf, 0, time_usec);
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| 158 | _mav_put_int32_t(buf, 8, lat);
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| 159 | _mav_put_int32_t(buf, 12, lon);
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| 160 | _mav_put_int32_t(buf, 16, alt);
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| 161 | _mav_put_uint32_t(buf, 20, dgps_age);
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| 162 | _mav_put_uint16_t(buf, 24, eph);
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| 163 | _mav_put_uint16_t(buf, 26, epv);
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| 164 | _mav_put_uint16_t(buf, 28, vel);
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| 165 | _mav_put_uint16_t(buf, 30, cog);
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| 166 | _mav_put_uint8_t(buf, 32, fix_type);
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| 167 | _mav_put_uint8_t(buf, 33, satellites_visible);
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| 168 | _mav_put_uint8_t(buf, 34, dgps_numch);
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| 169 |
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| 170 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
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| 171 | #else
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| 172 | mavlink_gps2_raw_t packet;
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| 173 | packet.time_usec = time_usec;
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| 174 | packet.lat = lat;
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| 175 | packet.lon = lon;
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| 176 | packet.alt = alt;
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| 177 | packet.dgps_age = dgps_age;
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| 178 | packet.eph = eph;
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| 179 | packet.epv = epv;
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| 180 | packet.vel = vel;
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| 181 | packet.cog = cog;
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| 182 | packet.fix_type = fix_type;
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| 183 | packet.satellites_visible = satellites_visible;
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| 184 | packet.dgps_numch = dgps_numch;
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| 185 |
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| 186 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
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| 187 | #endif
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| 188 |
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| 189 | msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
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| 190 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
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| 191 | }
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| 192 |
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| 193 | /**
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| 194 | * @brief Encode a gps2_raw struct
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| 195 | *
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| 196 | * @param system_id ID of this system
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| 197 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 198 | * @param msg The MAVLink message to compress the data into
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| 199 | * @param gps2_raw C-struct to read the message contents from
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| 200 | */
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| 201 | static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
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| 202 | {
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| 203 | return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
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| 204 | }
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| 205 |
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| 206 | /**
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| 207 | * @brief Encode a gps2_raw struct on a channel
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| 208 | *
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| 209 | * @param system_id ID of this system
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| 210 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 211 | * @param chan The MAVLink channel this message will be sent over
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| 212 | * @param msg The MAVLink message to compress the data into
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| 213 | * @param gps2_raw C-struct to read the message contents from
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| 214 | */
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| 215 | static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
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| 216 | {
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| 217 | return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
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| 218 | }
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| 219 |
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| 220 | /**
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| 221 | * @brief Send a gps2_raw message
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| 222 | * @param chan MAVLink channel to send the message
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| 223 | *
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| 224 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 225 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
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| 226 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 227 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 228 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 229 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 230 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
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| 231 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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| 232 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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| 233 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 234 | * @param dgps_numch Number of DGPS satellites
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| 235 | * @param dgps_age Age of DGPS info
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| 236 | */
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| 237 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 238 |
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| 239 | static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
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| 240 | {
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| 241 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 242 | char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
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| 243 | _mav_put_uint64_t(buf, 0, time_usec);
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| 244 | _mav_put_int32_t(buf, 8, lat);
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| 245 | _mav_put_int32_t(buf, 12, lon);
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| 246 | _mav_put_int32_t(buf, 16, alt);
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| 247 | _mav_put_uint32_t(buf, 20, dgps_age);
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| 248 | _mav_put_uint16_t(buf, 24, eph);
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| 249 | _mav_put_uint16_t(buf, 26, epv);
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| 250 | _mav_put_uint16_t(buf, 28, vel);
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| 251 | _mav_put_uint16_t(buf, 30, cog);
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| 252 | _mav_put_uint8_t(buf, 32, fix_type);
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| 253 | _mav_put_uint8_t(buf, 33, satellites_visible);
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| 254 | _mav_put_uint8_t(buf, 34, dgps_numch);
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| 255 |
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| 256 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
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| 257 | #else
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| 258 | mavlink_gps2_raw_t packet;
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| 259 | packet.time_usec = time_usec;
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| 260 | packet.lat = lat;
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| 261 | packet.lon = lon;
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| 262 | packet.alt = alt;
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| 263 | packet.dgps_age = dgps_age;
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| 264 | packet.eph = eph;
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| 265 | packet.epv = epv;
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| 266 | packet.vel = vel;
|
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| 267 | packet.cog = cog;
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| 268 | packet.fix_type = fix_type;
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| 269 | packet.satellites_visible = satellites_visible;
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| 270 | packet.dgps_numch = dgps_numch;
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| 271 |
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| 272 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
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| 273 | #endif
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| 274 | }
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| 275 |
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| 276 | /**
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| 277 | * @brief Send a gps2_raw message
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| 278 | * @param chan MAVLink channel to send the message
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| 279 | * @param struct The MAVLink struct to serialize
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| 280 | */
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| 281 | static inline void mavlink_msg_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw)
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| 282 | {
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| 283 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 284 | mavlink_msg_gps2_raw_send(chan, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
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| 285 | #else
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| 286 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)gps2_raw, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
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| 287 | #endif
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| 288 | }
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| 289 |
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| 290 | #if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 291 | /*
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| 292 | This varient of _send() can be used to save stack space by re-using
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| 293 | memory from the receive buffer. The caller provides a
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| 294 | mavlink_message_t which is the size of a full mavlink message. This
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| 295 | is usually the receive buffer for the channel, and allows a reply to an
|
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| 296 | incoming message with minimum stack space usage.
|
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| 297 | */
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| 298 | static inline void mavlink_msg_gps2_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
|
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| 299 | {
|
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| 300 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
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| 301 | char *buf = (char *)msgbuf;
|
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| 302 | _mav_put_uint64_t(buf, 0, time_usec);
|
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| 303 | _mav_put_int32_t(buf, 8, lat);
|
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| 304 | _mav_put_int32_t(buf, 12, lon);
|
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| 305 | _mav_put_int32_t(buf, 16, alt);
|
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| 306 | _mav_put_uint32_t(buf, 20, dgps_age);
|
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| 307 | _mav_put_uint16_t(buf, 24, eph);
|
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| 308 | _mav_put_uint16_t(buf, 26, epv);
|
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| 309 | _mav_put_uint16_t(buf, 28, vel);
|
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| 310 | _mav_put_uint16_t(buf, 30, cog);
|
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| 311 | _mav_put_uint8_t(buf, 32, fix_type);
|
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| 312 | _mav_put_uint8_t(buf, 33, satellites_visible);
|
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| 313 | _mav_put_uint8_t(buf, 34, dgps_numch);
|
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| 314 |
|
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| 315 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
|
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| 316 | #else
|
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| 317 | mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
|
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| 318 | packet->time_usec = time_usec;
|
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| 319 | packet->lat = lat;
|
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| 320 | packet->lon = lon;
|
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| 321 | packet->alt = alt;
|
---|
| 322 | packet->dgps_age = dgps_age;
|
---|
| 323 | packet->eph = eph;
|
---|
| 324 | packet->epv = epv;
|
---|
| 325 | packet->vel = vel;
|
---|
| 326 | packet->cog = cog;
|
---|
| 327 | packet->fix_type = fix_type;
|
---|
| 328 | packet->satellites_visible = satellites_visible;
|
---|
| 329 | packet->dgps_numch = dgps_numch;
|
---|
| 330 |
|
---|
| 331 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
|
---|
| 332 | #endif
|
---|
| 333 | }
|
---|
| 334 | #endif
|
---|
| 335 |
|
---|
| 336 | #endif
|
---|
| 337 |
|
---|
| 338 | // MESSAGE GPS2_RAW UNPACKING
|
---|
| 339 |
|
---|
| 340 |
|
---|
| 341 | /**
|
---|
| 342 | * @brief Get field time_usec from gps2_raw message
|
---|
| 343 | *
|
---|
| 344 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
---|
| 345 | */
|
---|
| 346 | static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
|
---|
| 347 | {
|
---|
| 348 | return _MAV_RETURN_uint64_t(msg, 0);
|
---|
| 349 | }
|
---|
| 350 |
|
---|
| 351 | /**
|
---|
| 352 | * @brief Get field fix_type from gps2_raw message
|
---|
| 353 | *
|
---|
| 354 | * @return 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
---|
| 355 | */
|
---|
| 356 | static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
|
---|
| 357 | {
|
---|
| 358 | return _MAV_RETURN_uint8_t(msg, 32);
|
---|
| 359 | }
|
---|
| 360 |
|
---|
| 361 | /**
|
---|
| 362 | * @brief Get field lat from gps2_raw message
|
---|
| 363 | *
|
---|
| 364 | * @return Latitude (WGS84), in degrees * 1E7
|
---|
| 365 | */
|
---|
| 366 | static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
|
---|
| 367 | {
|
---|
| 368 | return _MAV_RETURN_int32_t(msg, 8);
|
---|
| 369 | }
|
---|
| 370 |
|
---|
| 371 | /**
|
---|
| 372 | * @brief Get field lon from gps2_raw message
|
---|
| 373 | *
|
---|
| 374 | * @return Longitude (WGS84), in degrees * 1E7
|
---|
| 375 | */
|
---|
| 376 | static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
|
---|
| 377 | {
|
---|
| 378 | return _MAV_RETURN_int32_t(msg, 12);
|
---|
| 379 | }
|
---|
| 380 |
|
---|
| 381 | /**
|
---|
| 382 | * @brief Get field alt from gps2_raw message
|
---|
| 383 | *
|
---|
| 384 | * @return Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
|
---|
| 385 | */
|
---|
| 386 | static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
|
---|
| 387 | {
|
---|
| 388 | return _MAV_RETURN_int32_t(msg, 16);
|
---|
| 389 | }
|
---|
| 390 |
|
---|
| 391 | /**
|
---|
| 392 | * @brief Get field eph from gps2_raw message
|
---|
| 393 | *
|
---|
| 394 | * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
|
---|
| 395 | */
|
---|
| 396 | static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
|
---|
| 397 | {
|
---|
| 398 | return _MAV_RETURN_uint16_t(msg, 24);
|
---|
| 399 | }
|
---|
| 400 |
|
---|
| 401 | /**
|
---|
| 402 | * @brief Get field epv from gps2_raw message
|
---|
| 403 | *
|
---|
| 404 | * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
|
---|
| 405 | */
|
---|
| 406 | static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
|
---|
| 407 | {
|
---|
| 408 | return _MAV_RETURN_uint16_t(msg, 26);
|
---|
| 409 | }
|
---|
| 410 |
|
---|
| 411 | /**
|
---|
| 412 | * @brief Get field vel from gps2_raw message
|
---|
| 413 | *
|
---|
| 414 | * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
|
---|
| 415 | */
|
---|
| 416 | static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
|
---|
| 417 | {
|
---|
| 418 | return _MAV_RETURN_uint16_t(msg, 28);
|
---|
| 419 | }
|
---|
| 420 |
|
---|
| 421 | /**
|
---|
| 422 | * @brief Get field cog from gps2_raw message
|
---|
| 423 | *
|
---|
| 424 | * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
---|
| 425 | */
|
---|
| 426 | static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
|
---|
| 427 | {
|
---|
| 428 | return _MAV_RETURN_uint16_t(msg, 30);
|
---|
| 429 | }
|
---|
| 430 |
|
---|
| 431 | /**
|
---|
| 432 | * @brief Get field satellites_visible from gps2_raw message
|
---|
| 433 | *
|
---|
| 434 | * @return Number of satellites visible. If unknown, set to 255
|
---|
| 435 | */
|
---|
| 436 | static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
|
---|
| 437 | {
|
---|
| 438 | return _MAV_RETURN_uint8_t(msg, 33);
|
---|
| 439 | }
|
---|
| 440 |
|
---|
| 441 | /**
|
---|
| 442 | * @brief Get field dgps_numch from gps2_raw message
|
---|
| 443 | *
|
---|
| 444 | * @return Number of DGPS satellites
|
---|
| 445 | */
|
---|
| 446 | static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
|
---|
| 447 | {
|
---|
| 448 | return _MAV_RETURN_uint8_t(msg, 34);
|
---|
| 449 | }
|
---|
| 450 |
|
---|
| 451 | /**
|
---|
| 452 | * @brief Get field dgps_age from gps2_raw message
|
---|
| 453 | *
|
---|
| 454 | * @return Age of DGPS info
|
---|
| 455 | */
|
---|
| 456 | static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
|
---|
| 457 | {
|
---|
| 458 | return _MAV_RETURN_uint32_t(msg, 20);
|
---|
| 459 | }
|
---|
| 460 |
|
---|
| 461 | /**
|
---|
| 462 | * @brief Decode a gps2_raw message into a struct
|
---|
| 463 | *
|
---|
| 464 | * @param msg The message to decode
|
---|
| 465 | * @param gps2_raw C-struct to decode the message contents into
|
---|
| 466 | */
|
---|
| 467 | static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
|
---|
| 468 | {
|
---|
| 469 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 470 | gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
|
---|
| 471 | gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
|
---|
| 472 | gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
|
---|
| 473 | gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
|
---|
| 474 | gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
|
---|
| 475 | gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
|
---|
| 476 | gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
|
---|
| 477 | gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
|
---|
| 478 | gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
|
---|
| 479 | gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
|
---|
| 480 | gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
|
---|
| 481 | gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
|
---|
| 482 | #else
|
---|
| 483 | uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RAW_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RAW_LEN;
|
---|
| 484 | memset(gps2_raw, 0, MAVLINK_MSG_ID_GPS2_RAW_LEN);
|
---|
| 485 | memcpy(gps2_raw, _MAV_PAYLOAD(msg), len);
|
---|
| 486 | #endif
|
---|
| 487 | }
|
---|