source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_gps2_raw.h @ 88

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

m

File size: 21.0 KB
Line 
1// MESSAGE GPS2_RAW PACKING
2
3#define MAVLINK_MSG_ID_GPS2_RAW 124
4
5typedef struct MAVLINK_PACKED __mavlink_gps2_raw_t
6{
7 uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
8 int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
9 int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
10 int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/
11 uint32_t dgps_age; /*< Age of DGPS info*/
12 uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
13 uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
14 uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX*/
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*/
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.*/
17 uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
18 uint8_t dgps_numch; /*< Number of DGPS satellites*/
19} mavlink_gps2_raw_t;
20
21#define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
22#define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35
23#define MAVLINK_MSG_ID_124_LEN 35
24#define MAVLINK_MSG_ID_124_MIN_LEN 35
25
26#define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
27#define MAVLINK_MSG_ID_124_CRC 87
28
29
30
31#if MAVLINK_COMMAND_24BIT
32#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
33        124, \
34        "GPS2_RAW", \
35        12, \
36        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
37         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
38         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
39         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
40         { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
41         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
42         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
43         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
44         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
45         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
46         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
47         { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
48         } \
49}
50#else
51#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
52        "GPS2_RAW", \
53        12, \
54        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
55         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
56         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
57         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
58         { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
59         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
60         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
61         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
62         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
63         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
64         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
65         { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
66         } \
67}
68#endif
69
70/**
71 * @brief Pack a gps2_raw message
72 * @param system_id ID of this system
73 * @param component_id ID of this component (e.g. 200 for IMU)
74 * @param msg The MAVLink message to compress the data into
75 *
76 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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.
78 * @param lat Latitude (WGS84), in degrees * 1E7
79 * @param lon Longitude (WGS84), in degrees * 1E7
80 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
81 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
82 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
83 * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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
85 * @param satellites_visible Number of satellites visible. If unknown, set to 255
86 * @param dgps_numch Number of DGPS satellites
87 * @param dgps_age Age of DGPS info
88 * @return length of the message in bytes (excluding serial stream start sign)
89 */
90static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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)
92{
93#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
94        char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
95        _mav_put_uint64_t(buf, 0, time_usec);
96        _mav_put_int32_t(buf, 8, lat);
97        _mav_put_int32_t(buf, 12, lon);
98        _mav_put_int32_t(buf, 16, alt);
99        _mav_put_uint32_t(buf, 20, dgps_age);
100        _mav_put_uint16_t(buf, 24, eph);
101        _mav_put_uint16_t(buf, 26, epv);
102        _mav_put_uint16_t(buf, 28, vel);
103        _mav_put_uint16_t(buf, 30, cog);
104        _mav_put_uint8_t(buf, 32, fix_type);
105        _mav_put_uint8_t(buf, 33, satellites_visible);
106        _mav_put_uint8_t(buf, 34, dgps_numch);
107
108        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
109#else
110        mavlink_gps2_raw_t packet;
111        packet.time_usec = time_usec;
112        packet.lat = lat;
113        packet.lon = lon;
114        packet.alt = alt;
115        packet.dgps_age = dgps_age;
116        packet.eph = eph;
117        packet.epv = epv;
118        packet.vel = vel;
119        packet.cog = cog;
120        packet.fix_type = fix_type;
121        packet.satellites_visible = satellites_visible;
122        packet.dgps_numch = dgps_numch;
123
124        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
125#endif
126
127        msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
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);
129}
130
131/**
132 * @brief Pack a gps2_raw message on a channel
133 * @param system_id ID of this system
134 * @param component_id ID of this component (e.g. 200 for IMU)
135 * @param chan The MAVLink channel this message will be sent over
136 * @param msg The MAVLink message to compress the data into
137 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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.
139 * @param lat Latitude (WGS84), in degrees * 1E7
140 * @param lon Longitude (WGS84), in degrees * 1E7
141 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
142 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
143 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
144 * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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
146 * @param satellites_visible Number of satellites visible. If unknown, set to 255
147 * @param dgps_numch Number of DGPS satellites
148 * @param dgps_age Age of DGPS info
149 * @return length of the message in bytes (excluding serial stream start sign)
150 */
151static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
152                                                           mavlink_message_t* msg,
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)
154{
155#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
156        char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
157        _mav_put_uint64_t(buf, 0, time_usec);
158        _mav_put_int32_t(buf, 8, lat);
159        _mav_put_int32_t(buf, 12, lon);
160        _mav_put_int32_t(buf, 16, alt);
161        _mav_put_uint32_t(buf, 20, dgps_age);
162        _mav_put_uint16_t(buf, 24, eph);
163        _mav_put_uint16_t(buf, 26, epv);
164        _mav_put_uint16_t(buf, 28, vel);
165        _mav_put_uint16_t(buf, 30, cog);
166        _mav_put_uint8_t(buf, 32, fix_type);
167        _mav_put_uint8_t(buf, 33, satellites_visible);
168        _mav_put_uint8_t(buf, 34, dgps_numch);
169
170        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
171#else
172        mavlink_gps2_raw_t packet;
173        packet.time_usec = time_usec;
174        packet.lat = lat;
175        packet.lon = lon;
176        packet.alt = alt;
177        packet.dgps_age = dgps_age;
178        packet.eph = eph;
179        packet.epv = epv;
180        packet.vel = vel;
181        packet.cog = cog;
182        packet.fix_type = fix_type;
183        packet.satellites_visible = satellites_visible;
184        packet.dgps_numch = dgps_numch;
185
186        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
187#endif
188
189        msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
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);
191}
192
193/**
194 * @brief Encode a gps2_raw struct
195 *
196 * @param system_id ID of this system
197 * @param component_id ID of this component (e.g. 200 for IMU)
198 * @param msg The MAVLink message to compress the data into
199 * @param gps2_raw C-struct to read the message contents from
200 */
201static 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)
202{
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);
204}
205
206/**
207 * @brief Encode a gps2_raw struct on a channel
208 *
209 * @param system_id ID of this system
210 * @param component_id ID of this component (e.g. 200 for IMU)
211 * @param chan The MAVLink channel this message will be sent over
212 * @param msg The MAVLink message to compress the data into
213 * @param gps2_raw C-struct to read the message contents from
214 */
215static 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)
216{
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);
218}
219
220/**
221 * @brief Send a gps2_raw message
222 * @param chan MAVLink channel to send the message
223 *
224 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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.
226 * @param lat Latitude (WGS84), in degrees * 1E7
227 * @param lon Longitude (WGS84), in degrees * 1E7
228 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
229 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
230 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
231 * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
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
233 * @param satellites_visible Number of satellites visible. If unknown, set to 255
234 * @param dgps_numch Number of DGPS satellites
235 * @param dgps_age Age of DGPS info
236 */
237#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
238
239static 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)
240{
241#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
242        char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
243        _mav_put_uint64_t(buf, 0, time_usec);
244        _mav_put_int32_t(buf, 8, lat);
245        _mav_put_int32_t(buf, 12, lon);
246        _mav_put_int32_t(buf, 16, alt);
247        _mav_put_uint32_t(buf, 20, dgps_age);
248        _mav_put_uint16_t(buf, 24, eph);
249        _mav_put_uint16_t(buf, 26, epv);
250        _mav_put_uint16_t(buf, 28, vel);
251        _mav_put_uint16_t(buf, 30, cog);
252        _mav_put_uint8_t(buf, 32, fix_type);
253        _mav_put_uint8_t(buf, 33, satellites_visible);
254        _mav_put_uint8_t(buf, 34, dgps_numch);
255
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);
257#else
258        mavlink_gps2_raw_t packet;
259        packet.time_usec = time_usec;
260        packet.lat = lat;
261        packet.lon = lon;
262        packet.alt = alt;
263        packet.dgps_age = dgps_age;
264        packet.eph = eph;
265        packet.epv = epv;
266        packet.vel = vel;
267        packet.cog = cog;
268        packet.fix_type = fix_type;
269        packet.satellites_visible = satellites_visible;
270        packet.dgps_numch = dgps_numch;
271
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);
273#endif
274}
275
276/**
277 * @brief Send a gps2_raw message
278 * @param chan MAVLink channel to send the message
279 * @param struct The MAVLink struct to serialize
280 */
281static inline void mavlink_msg_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw)
282{
283#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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);
285#else
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);
287#endif
288}
289
290#if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
291/*
292  This varient of _send() can be used to save stack space by re-using
293  memory from the receive buffer.  The caller provides a
294  mavlink_message_t which is the size of a full mavlink message. This
295  is usually the receive buffer for the channel, and allows a reply to an
296  incoming message with minimum stack space usage.
297 */
298static 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)
299{
300#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
301        char *buf = (char *)msgbuf;
302        _mav_put_uint64_t(buf, 0, time_usec);
303        _mav_put_int32_t(buf, 8, lat);
304        _mav_put_int32_t(buf, 12, lon);
305        _mav_put_int32_t(buf, 16, alt);
306        _mav_put_uint32_t(buf, 20, dgps_age);
307        _mav_put_uint16_t(buf, 24, eph);
308        _mav_put_uint16_t(buf, 26, epv);
309        _mav_put_uint16_t(buf, 28, vel);
310        _mav_put_uint16_t(buf, 30, cog);
311        _mav_put_uint8_t(buf, 32, fix_type);
312        _mav_put_uint8_t(buf, 33, satellites_visible);
313        _mav_put_uint8_t(buf, 34, dgps_numch);
314
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);
316#else
317        mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
318        packet->time_usec = time_usec;
319        packet->lat = lat;
320        packet->lon = lon;
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 */
346static 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 */
356static 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 */
366static 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 */
376static 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 */
386static 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 */
396static 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 */
406static 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 */
416static 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 */
426static 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 */
436static 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 */
446static 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 */
456static 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 */
467static 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}
Note: See TracBrowser for help on using the repository browser.