1 | // MESSAGE GPS_GLOBAL_ORIGIN PACKING
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2 |
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3 | #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
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4 |
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5 | typedef struct MAVLINK_PACKED __mavlink_gps_global_origin_t
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6 | {
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7 | int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
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8 | int32_t longitude; /*< Longitude (WGS84), in degrees * 1E7*/
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9 | int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
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10 | } mavlink_gps_global_origin_t;
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11 |
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12 | #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
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13 | #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN 12
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14 | #define MAVLINK_MSG_ID_49_LEN 12
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15 | #define MAVLINK_MSG_ID_49_MIN_LEN 12
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16 |
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17 | #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
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18 | #define MAVLINK_MSG_ID_49_CRC 39
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19 |
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20 |
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21 |
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22 | #if MAVLINK_COMMAND_24BIT
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23 | #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
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24 | 49, \
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25 | "GPS_GLOBAL_ORIGIN", \
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26 | 3, \
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27 | { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
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28 | { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
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29 | { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
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30 | } \
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31 | }
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32 | #else
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33 | #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
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34 | "GPS_GLOBAL_ORIGIN", \
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35 | 3, \
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36 | { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
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37 | { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
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38 | { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
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39 | } \
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40 | }
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41 | #endif
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42 |
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43 | /**
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44 | * @brief Pack a gps_global_origin message
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45 | * @param system_id ID of this system
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46 | * @param component_id ID of this component (e.g. 200 for IMU)
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47 | * @param msg The MAVLink message to compress the data into
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48 | *
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49 | * @param latitude Latitude (WGS84), in degrees * 1E7
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50 | * @param longitude Longitude (WGS84), in degrees * 1E7
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51 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
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52 | * @return length of the message in bytes (excluding serial stream start sign)
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53 | */
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54 | static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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55 | int32_t latitude, int32_t longitude, int32_t altitude)
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56 | {
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57 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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58 | char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
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59 | _mav_put_int32_t(buf, 0, latitude);
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60 | _mav_put_int32_t(buf, 4, longitude);
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61 | _mav_put_int32_t(buf, 8, altitude);
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62 |
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63 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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64 | #else
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65 | mavlink_gps_global_origin_t packet;
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66 | packet.latitude = latitude;
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67 | packet.longitude = longitude;
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68 | packet.altitude = altitude;
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69 |
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70 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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71 | #endif
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72 |
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73 | msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
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74 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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75 | }
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76 |
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77 | /**
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78 | * @brief Pack a gps_global_origin message on a channel
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79 | * @param system_id ID of this system
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80 | * @param component_id ID of this component (e.g. 200 for IMU)
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81 | * @param chan The MAVLink channel this message will be sent over
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82 | * @param msg The MAVLink message to compress the data into
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83 | * @param latitude Latitude (WGS84), in degrees * 1E7
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84 | * @param longitude Longitude (WGS84), in degrees * 1E7
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85 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
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86 | * @return length of the message in bytes (excluding serial stream start sign)
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87 | */
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88 | static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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89 | mavlink_message_t* msg,
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90 | int32_t latitude,int32_t longitude,int32_t altitude)
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91 | {
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92 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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93 | char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
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94 | _mav_put_int32_t(buf, 0, latitude);
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95 | _mav_put_int32_t(buf, 4, longitude);
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96 | _mav_put_int32_t(buf, 8, altitude);
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97 |
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98 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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99 | #else
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100 | mavlink_gps_global_origin_t packet;
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101 | packet.latitude = latitude;
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102 | packet.longitude = longitude;
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103 | packet.altitude = altitude;
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104 |
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105 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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106 | #endif
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107 |
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108 | msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
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109 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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110 | }
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111 |
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112 | /**
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113 | * @brief Encode a gps_global_origin struct
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114 | *
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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 msg The MAVLink message to compress the data into
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118 | * @param gps_global_origin C-struct to read the message contents from
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119 | */
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120 | static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
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121 | {
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122 | return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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123 | }
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124 |
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125 | /**
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126 | * @brief Encode a gps_global_origin struct on a channel
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127 | *
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128 | * @param system_id ID of this system
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129 | * @param component_id ID of this component (e.g. 200 for IMU)
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130 | * @param chan The MAVLink channel this message will be sent over
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131 | * @param msg The MAVLink message to compress the data into
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132 | * @param gps_global_origin C-struct to read the message contents from
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133 | */
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134 | static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
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135 | {
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136 | return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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137 | }
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138 |
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139 | /**
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140 | * @brief Send a gps_global_origin message
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141 | * @param chan MAVLink channel to send the message
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142 | *
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143 | * @param latitude Latitude (WGS84), in degrees * 1E7
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144 | * @param longitude Longitude (WGS84), in degrees * 1E7
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145 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
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146 | */
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147 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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148 |
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149 | static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
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150 | {
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151 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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152 | char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
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153 | _mav_put_int32_t(buf, 0, latitude);
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154 | _mav_put_int32_t(buf, 4, longitude);
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155 | _mav_put_int32_t(buf, 8, altitude);
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156 |
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157 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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158 | #else
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159 | mavlink_gps_global_origin_t packet;
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160 | packet.latitude = latitude;
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161 | packet.longitude = longitude;
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162 | packet.altitude = altitude;
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163 |
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164 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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165 | #endif
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166 | }
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167 |
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168 | /**
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169 | * @brief Send a gps_global_origin message
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170 | * @param chan MAVLink channel to send the message
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171 | * @param struct The MAVLink struct to serialize
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172 | */
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173 | static inline void mavlink_msg_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_gps_global_origin_t* gps_global_origin)
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174 | {
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175 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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176 | mavlink_msg_gps_global_origin_send(chan, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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177 | #else
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178 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)gps_global_origin, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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179 | #endif
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180 | }
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181 |
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182 | #if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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183 | /*
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184 | This varient of _send() can be used to save stack space by re-using
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185 | memory from the receive buffer. The caller provides a
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186 | mavlink_message_t which is the size of a full mavlink message. This
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187 | is usually the receive buffer for the channel, and allows a reply to an
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188 | incoming message with minimum stack space usage.
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189 | */
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190 | static inline void mavlink_msg_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
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191 | {
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192 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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193 | char *buf = (char *)msgbuf;
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194 | _mav_put_int32_t(buf, 0, latitude);
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195 | _mav_put_int32_t(buf, 4, longitude);
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196 | _mav_put_int32_t(buf, 8, altitude);
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197 |
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198 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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199 | #else
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200 | mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf;
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201 | packet->latitude = latitude;
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202 | packet->longitude = longitude;
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203 | packet->altitude = altitude;
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204 |
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205 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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206 | #endif
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207 | }
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208 | #endif
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209 |
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210 | #endif
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211 |
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212 | // MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
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213 |
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214 |
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215 | /**
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216 | * @brief Get field latitude from gps_global_origin message
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217 | *
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218 | * @return Latitude (WGS84), in degrees * 1E7
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219 | */
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220 | static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
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221 | {
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222 | return _MAV_RETURN_int32_t(msg, 0);
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223 | }
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224 |
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225 | /**
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226 | * @brief Get field longitude from gps_global_origin message
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227 | *
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228 | * @return Longitude (WGS84), in degrees * 1E7
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229 | */
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230 | static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
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231 | {
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232 | return _MAV_RETURN_int32_t(msg, 4);
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233 | }
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234 |
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235 | /**
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236 | * @brief Get field altitude from gps_global_origin message
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237 | *
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238 | * @return Altitude (AMSL), in meters * 1000 (positive for up)
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239 | */
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240 | static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
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241 | {
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242 | return _MAV_RETURN_int32_t(msg, 8);
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243 | }
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244 |
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245 | /**
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246 | * @brief Decode a gps_global_origin message into a struct
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247 | *
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248 | * @param msg The message to decode
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249 | * @param gps_global_origin C-struct to decode the message contents into
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250 | */
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251 | static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
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252 | {
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253 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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254 | gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
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255 | gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
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256 | gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
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257 | #else
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258 | uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN;
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259 | memset(gps_global_origin, 0, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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260 | memcpy(gps_global_origin, _MAV_PAYLOAD(msg), len);
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261 | #endif
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262 | }
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