[88] | 1 | // MESSAGE HIL_GPS PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_HIL_GPS 113
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_hil_gps_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 | uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535*/
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| 12 | uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535*/
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| 13 | uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: 65535*/
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| 14 | int16_t vn; /*< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame*/
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| 15 | int16_t ve; /*< GPS velocity in cm/s in EAST direction in earth-fixed NED frame*/
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| 16 | int16_t vd; /*< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame*/
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| 17 | uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535*/
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| 18 | uint8_t fix_type; /*< 0-1: no fix, 2: 2D fix, 3: 3D 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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| 19 | uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
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| 20 | } mavlink_hil_gps_t;
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| 21 |
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| 22 | #define MAVLINK_MSG_ID_HIL_GPS_LEN 36
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| 23 | #define MAVLINK_MSG_ID_HIL_GPS_MIN_LEN 36
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| 24 | #define MAVLINK_MSG_ID_113_LEN 36
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| 25 | #define MAVLINK_MSG_ID_113_MIN_LEN 36
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| 26 |
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| 27 | #define MAVLINK_MSG_ID_HIL_GPS_CRC 124
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| 28 | #define MAVLINK_MSG_ID_113_CRC 124
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| 29 |
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| 30 |
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| 31 |
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| 32 | #if MAVLINK_COMMAND_24BIT
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| 33 | #define MAVLINK_MESSAGE_INFO_HIL_GPS { \
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| 34 | 113, \
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| 35 | "HIL_GPS", \
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| 36 | 13, \
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| 37 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
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| 38 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
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| 39 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
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| 40 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
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| 41 | { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
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| 42 | { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
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| 43 | { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
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| 44 | { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
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| 45 | { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
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| 46 | { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
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| 47 | { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
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| 48 | { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
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| 49 | { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
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| 50 | } \
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| 51 | }
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| 52 | #else
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| 53 | #define MAVLINK_MESSAGE_INFO_HIL_GPS { \
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| 54 | "HIL_GPS", \
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| 55 | 13, \
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| 56 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
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| 57 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
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| 58 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
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| 59 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
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| 60 | { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
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| 61 | { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
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| 62 | { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
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| 63 | { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
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| 64 | { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
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| 65 | { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
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| 66 | { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
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| 67 | { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
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| 68 | { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
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| 69 | } \
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| 70 | }
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| 71 | #endif
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| 72 |
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| 73 | /**
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| 74 | * @brief Pack a hil_gps message
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| 75 | * @param system_id ID of this system
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| 76 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 77 | * @param msg The MAVLink message to compress the data into
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| 78 | *
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| 79 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 80 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D 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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| 81 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 82 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 83 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 84 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
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| 85 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
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| 86 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
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| 87 | * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
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| 88 | * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
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| 89 | * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
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| 90 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
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| 91 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 92 | * @return length of the message in bytes (excluding serial stream start sign)
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| 93 | */
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| 94 | static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 95 | 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, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
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| 96 | {
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| 97 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 98 | char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
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| 99 | _mav_put_uint64_t(buf, 0, time_usec);
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| 100 | _mav_put_int32_t(buf, 8, lat);
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| 101 | _mav_put_int32_t(buf, 12, lon);
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| 102 | _mav_put_int32_t(buf, 16, alt);
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| 103 | _mav_put_uint16_t(buf, 20, eph);
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| 104 | _mav_put_uint16_t(buf, 22, epv);
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| 105 | _mav_put_uint16_t(buf, 24, vel);
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| 106 | _mav_put_int16_t(buf, 26, vn);
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| 107 | _mav_put_int16_t(buf, 28, ve);
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| 108 | _mav_put_int16_t(buf, 30, vd);
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| 109 | _mav_put_uint16_t(buf, 32, cog);
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| 110 | _mav_put_uint8_t(buf, 34, fix_type);
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| 111 | _mav_put_uint8_t(buf, 35, satellites_visible);
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| 112 |
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| 113 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
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| 114 | #else
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| 115 | mavlink_hil_gps_t packet;
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| 116 | packet.time_usec = time_usec;
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| 117 | packet.lat = lat;
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| 118 | packet.lon = lon;
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| 119 | packet.alt = alt;
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| 120 | packet.eph = eph;
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| 121 | packet.epv = epv;
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| 122 | packet.vel = vel;
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| 123 | packet.vn = vn;
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| 124 | packet.ve = ve;
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| 125 | packet.vd = vd;
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| 126 | packet.cog = cog;
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| 127 | packet.fix_type = fix_type;
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| 128 | packet.satellites_visible = satellites_visible;
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| 129 |
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| 130 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
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| 131 | #endif
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| 132 |
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| 133 | msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
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| 134 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
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| 135 | }
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| 136 |
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| 137 | /**
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| 138 | * @brief Pack a hil_gps message on a channel
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| 139 | * @param system_id ID of this system
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| 140 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 141 | * @param chan The MAVLink channel this message will be sent over
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| 142 | * @param msg The MAVLink message to compress the data into
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| 143 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 144 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D 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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| 145 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 146 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 147 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 148 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
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| 149 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
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| 150 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
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| 151 | * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
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| 152 | * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
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| 153 | * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
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| 154 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
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| 155 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 156 | * @return length of the message in bytes (excluding serial stream start sign)
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| 157 | */
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| 158 | static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 159 | mavlink_message_t* msg,
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| 160 | 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,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible)
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| 161 | {
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| 162 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 163 | char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
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| 164 | _mav_put_uint64_t(buf, 0, time_usec);
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| 165 | _mav_put_int32_t(buf, 8, lat);
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| 166 | _mav_put_int32_t(buf, 12, lon);
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| 167 | _mav_put_int32_t(buf, 16, alt);
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| 168 | _mav_put_uint16_t(buf, 20, eph);
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| 169 | _mav_put_uint16_t(buf, 22, epv);
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| 170 | _mav_put_uint16_t(buf, 24, vel);
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| 171 | _mav_put_int16_t(buf, 26, vn);
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| 172 | _mav_put_int16_t(buf, 28, ve);
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| 173 | _mav_put_int16_t(buf, 30, vd);
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| 174 | _mav_put_uint16_t(buf, 32, cog);
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| 175 | _mav_put_uint8_t(buf, 34, fix_type);
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| 176 | _mav_put_uint8_t(buf, 35, satellites_visible);
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| 177 |
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| 178 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
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| 179 | #else
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| 180 | mavlink_hil_gps_t packet;
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| 181 | packet.time_usec = time_usec;
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| 182 | packet.lat = lat;
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| 183 | packet.lon = lon;
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| 184 | packet.alt = alt;
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| 185 | packet.eph = eph;
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| 186 | packet.epv = epv;
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| 187 | packet.vel = vel;
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| 188 | packet.vn = vn;
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| 189 | packet.ve = ve;
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| 190 | packet.vd = vd;
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| 191 | packet.cog = cog;
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| 192 | packet.fix_type = fix_type;
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| 193 | packet.satellites_visible = satellites_visible;
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| 194 |
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| 195 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
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| 196 | #endif
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| 197 |
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| 198 | msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
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| 199 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
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| 200 | }
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| 201 |
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| 202 | /**
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| 203 | * @brief Encode a hil_gps struct
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| 204 | *
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| 205 | * @param system_id ID of this system
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| 206 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 207 | * @param msg The MAVLink message to compress the data into
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| 208 | * @param hil_gps C-struct to read the message contents from
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| 209 | */
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| 210 | static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
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| 211 | {
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| 212 | return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
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| 213 | }
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| 214 |
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| 215 | /**
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| 216 | * @brief Encode a hil_gps struct on a channel
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| 217 | *
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| 218 | * @param system_id ID of this system
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| 219 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 220 | * @param chan The MAVLink channel this message will be sent over
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| 221 | * @param msg The MAVLink message to compress the data into
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| 222 | * @param hil_gps C-struct to read the message contents from
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| 223 | */
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| 224 | static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
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| 225 | {
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| 226 | return mavlink_msg_hil_gps_pack_chan(system_id, component_id, chan, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
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| 227 | }
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| 228 |
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| 229 | /**
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| 230 | * @brief Send a hil_gps message
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| 231 | * @param chan MAVLink channel to send the message
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| 232 | *
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| 233 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 234 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D 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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| 235 | * @param lat Latitude (WGS84), in degrees * 1E7
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| 236 | * @param lon Longitude (WGS84), in degrees * 1E7
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| 237 | * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
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| 238 | * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
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| 239 | * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
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| 240 | * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
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| 241 | * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
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| 242 | * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
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| 243 | * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
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| 244 | * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
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| 245 | * @param satellites_visible Number of satellites visible. If unknown, set to 255
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| 246 | */
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| 247 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 248 |
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| 249 | static inline void mavlink_msg_hil_gps_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, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
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| 250 | {
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| 251 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 252 | char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
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| 253 | _mav_put_uint64_t(buf, 0, time_usec);
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| 254 | _mav_put_int32_t(buf, 8, lat);
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| 255 | _mav_put_int32_t(buf, 12, lon);
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| 256 | _mav_put_int32_t(buf, 16, alt);
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| 257 | _mav_put_uint16_t(buf, 20, eph);
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| 258 | _mav_put_uint16_t(buf, 22, epv);
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| 259 | _mav_put_uint16_t(buf, 24, vel);
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| 260 | _mav_put_int16_t(buf, 26, vn);
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| 261 | _mav_put_int16_t(buf, 28, ve);
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| 262 | _mav_put_int16_t(buf, 30, vd);
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| 263 | _mav_put_uint16_t(buf, 32, cog);
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| 264 | _mav_put_uint8_t(buf, 34, fix_type);
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| 265 | _mav_put_uint8_t(buf, 35, satellites_visible);
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| 266 |
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| 267 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
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| 268 | #else
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| 269 | mavlink_hil_gps_t packet;
|
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| 270 | packet.time_usec = time_usec;
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| 271 | packet.lat = lat;
|
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| 272 | packet.lon = lon;
|
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| 273 | packet.alt = alt;
|
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| 274 | packet.eph = eph;
|
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| 275 | packet.epv = epv;
|
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| 276 | packet.vel = vel;
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| 277 | packet.vn = vn;
|
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| 278 | packet.ve = ve;
|
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| 279 | packet.vd = vd;
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| 280 | packet.cog = cog;
|
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| 281 | packet.fix_type = fix_type;
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| 282 | packet.satellites_visible = satellites_visible;
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| 283 |
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| 284 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
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| 285 | #endif
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| 286 | }
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| 287 |
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| 288 | /**
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| 289 | * @brief Send a hil_gps message
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| 290 | * @param chan MAVLink channel to send the message
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| 291 | * @param struct The MAVLink struct to serialize
|
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| 292 | */
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| 293 | static inline void mavlink_msg_hil_gps_send_struct(mavlink_channel_t chan, const mavlink_hil_gps_t* hil_gps)
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| 294 | {
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| 295 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 296 | mavlink_msg_hil_gps_send(chan, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
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| 297 | #else
|
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| 298 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)hil_gps, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
|
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| 299 | #endif
|
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| 300 | }
|
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| 301 |
|
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| 302 | #if MAVLINK_MSG_ID_HIL_GPS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
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| 303 | /*
|
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| 304 | This varient of _send() can be used to save stack space by re-using
|
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| 305 | memory from the receive buffer. The caller provides a
|
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| 306 | mavlink_message_t which is the size of a full mavlink message. This
|
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| 307 | is usually the receive buffer for the channel, and allows a reply to an
|
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| 308 | incoming message with minimum stack space usage.
|
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| 309 | */
|
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| 310 | static inline void mavlink_msg_hil_gps_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, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
|
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| 311 | {
|
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| 312 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
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| 313 | char *buf = (char *)msgbuf;
|
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| 314 | _mav_put_uint64_t(buf, 0, time_usec);
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| 315 | _mav_put_int32_t(buf, 8, lat);
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| 316 | _mav_put_int32_t(buf, 12, lon);
|
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| 317 | _mav_put_int32_t(buf, 16, alt);
|
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| 318 | _mav_put_uint16_t(buf, 20, eph);
|
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| 319 | _mav_put_uint16_t(buf, 22, epv);
|
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| 320 | _mav_put_uint16_t(buf, 24, vel);
|
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| 321 | _mav_put_int16_t(buf, 26, vn);
|
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| 322 | _mav_put_int16_t(buf, 28, ve);
|
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| 323 | _mav_put_int16_t(buf, 30, vd);
|
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| 324 | _mav_put_uint16_t(buf, 32, cog);
|
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| 325 | _mav_put_uint8_t(buf, 34, fix_type);
|
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| 326 | _mav_put_uint8_t(buf, 35, satellites_visible);
|
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| 327 |
|
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| 328 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
|
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| 329 | #else
|
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| 330 | mavlink_hil_gps_t *packet = (mavlink_hil_gps_t *)msgbuf;
|
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| 331 | packet->time_usec = time_usec;
|
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| 332 | packet->lat = lat;
|
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| 333 | packet->lon = lon;
|
---|
| 334 | packet->alt = alt;
|
---|
| 335 | packet->eph = eph;
|
---|
| 336 | packet->epv = epv;
|
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| 337 | packet->vel = vel;
|
---|
| 338 | packet->vn = vn;
|
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| 339 | packet->ve = ve;
|
---|
| 340 | packet->vd = vd;
|
---|
| 341 | packet->cog = cog;
|
---|
| 342 | packet->fix_type = fix_type;
|
---|
| 343 | packet->satellites_visible = satellites_visible;
|
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| 344 |
|
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| 345 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_MIN_LEN, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
|
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| 346 | #endif
|
---|
| 347 | }
|
---|
| 348 | #endif
|
---|
| 349 |
|
---|
| 350 | #endif
|
---|
| 351 |
|
---|
| 352 | // MESSAGE HIL_GPS UNPACKING
|
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| 353 |
|
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| 354 |
|
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| 355 | /**
|
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| 356 | * @brief Get field time_usec from hil_gps message
|
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| 357 | *
|
---|
| 358 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
---|
| 359 | */
|
---|
| 360 | static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg)
|
---|
| 361 | {
|
---|
| 362 | return _MAV_RETURN_uint64_t(msg, 0);
|
---|
| 363 | }
|
---|
| 364 |
|
---|
| 365 | /**
|
---|
| 366 | * @brief Get field fix_type from hil_gps message
|
---|
| 367 | *
|
---|
| 368 | * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
---|
| 369 | */
|
---|
| 370 | static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg)
|
---|
| 371 | {
|
---|
| 372 | return _MAV_RETURN_uint8_t(msg, 34);
|
---|
| 373 | }
|
---|
| 374 |
|
---|
| 375 | /**
|
---|
| 376 | * @brief Get field lat from hil_gps message
|
---|
| 377 | *
|
---|
| 378 | * @return Latitude (WGS84), in degrees * 1E7
|
---|
| 379 | */
|
---|
| 380 | static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg)
|
---|
| 381 | {
|
---|
| 382 | return _MAV_RETURN_int32_t(msg, 8);
|
---|
| 383 | }
|
---|
| 384 |
|
---|
| 385 | /**
|
---|
| 386 | * @brief Get field lon from hil_gps message
|
---|
| 387 | *
|
---|
| 388 | * @return Longitude (WGS84), in degrees * 1E7
|
---|
| 389 | */
|
---|
| 390 | static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg)
|
---|
| 391 | {
|
---|
| 392 | return _MAV_RETURN_int32_t(msg, 12);
|
---|
| 393 | }
|
---|
| 394 |
|
---|
| 395 | /**
|
---|
| 396 | * @brief Get field alt from hil_gps message
|
---|
| 397 | *
|
---|
| 398 | * @return Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
|
---|
| 399 | */
|
---|
| 400 | static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg)
|
---|
| 401 | {
|
---|
| 402 | return _MAV_RETURN_int32_t(msg, 16);
|
---|
| 403 | }
|
---|
| 404 |
|
---|
| 405 | /**
|
---|
| 406 | * @brief Get field eph from hil_gps message
|
---|
| 407 | *
|
---|
| 408 | * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
|
---|
| 409 | */
|
---|
| 410 | static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
|
---|
| 411 | {
|
---|
| 412 | return _MAV_RETURN_uint16_t(msg, 20);
|
---|
| 413 | }
|
---|
| 414 |
|
---|
| 415 | /**
|
---|
| 416 | * @brief Get field epv from hil_gps message
|
---|
| 417 | *
|
---|
| 418 | * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
|
---|
| 419 | */
|
---|
| 420 | static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
|
---|
| 421 | {
|
---|
| 422 | return _MAV_RETURN_uint16_t(msg, 22);
|
---|
| 423 | }
|
---|
| 424 |
|
---|
| 425 | /**
|
---|
| 426 | * @brief Get field vel from hil_gps message
|
---|
| 427 | *
|
---|
| 428 | * @return GPS ground speed (m/s * 100). If unknown, set to: 65535
|
---|
| 429 | */
|
---|
| 430 | static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg)
|
---|
| 431 | {
|
---|
| 432 | return _MAV_RETURN_uint16_t(msg, 24);
|
---|
| 433 | }
|
---|
| 434 |
|
---|
| 435 | /**
|
---|
| 436 | * @brief Get field vn from hil_gps message
|
---|
| 437 | *
|
---|
| 438 | * @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
|
---|
| 439 | */
|
---|
| 440 | static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg)
|
---|
| 441 | {
|
---|
| 442 | return _MAV_RETURN_int16_t(msg, 26);
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 | /**
|
---|
| 446 | * @brief Get field ve from hil_gps message
|
---|
| 447 | *
|
---|
| 448 | * @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame
|
---|
| 449 | */
|
---|
| 450 | static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg)
|
---|
| 451 | {
|
---|
| 452 | return _MAV_RETURN_int16_t(msg, 28);
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | /**
|
---|
| 456 | * @brief Get field vd from hil_gps message
|
---|
| 457 | *
|
---|
| 458 | * @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
|
---|
| 459 | */
|
---|
| 460 | static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg)
|
---|
| 461 | {
|
---|
| 462 | return _MAV_RETURN_int16_t(msg, 30);
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | /**
|
---|
| 466 | * @brief Get field cog from hil_gps message
|
---|
| 467 | *
|
---|
| 468 | * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
|
---|
| 469 | */
|
---|
| 470 | static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg)
|
---|
| 471 | {
|
---|
| 472 | return _MAV_RETURN_uint16_t(msg, 32);
|
---|
| 473 | }
|
---|
| 474 |
|
---|
| 475 | /**
|
---|
| 476 | * @brief Get field satellites_visible from hil_gps message
|
---|
| 477 | *
|
---|
| 478 | * @return Number of satellites visible. If unknown, set to 255
|
---|
| 479 | */
|
---|
| 480 | static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg)
|
---|
| 481 | {
|
---|
| 482 | return _MAV_RETURN_uint8_t(msg, 35);
|
---|
| 483 | }
|
---|
| 484 |
|
---|
| 485 | /**
|
---|
| 486 | * @brief Decode a hil_gps message into a struct
|
---|
| 487 | *
|
---|
| 488 | * @param msg The message to decode
|
---|
| 489 | * @param hil_gps C-struct to decode the message contents into
|
---|
| 490 | */
|
---|
| 491 | static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps)
|
---|
| 492 | {
|
---|
| 493 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 494 | hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg);
|
---|
| 495 | hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg);
|
---|
| 496 | hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg);
|
---|
| 497 | hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg);
|
---|
| 498 | hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg);
|
---|
| 499 | hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg);
|
---|
| 500 | hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg);
|
---|
| 501 | hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg);
|
---|
| 502 | hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg);
|
---|
| 503 | hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg);
|
---|
| 504 | hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg);
|
---|
| 505 | hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg);
|
---|
| 506 | hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg);
|
---|
| 507 | #else
|
---|
| 508 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_GPS_LEN? msg->len : MAVLINK_MSG_ID_HIL_GPS_LEN;
|
---|
| 509 | memset(hil_gps, 0, MAVLINK_MSG_ID_HIL_GPS_LEN);
|
---|
| 510 | memcpy(hil_gps, _MAV_PAYLOAD(msg), len);
|
---|
| 511 | #endif
|
---|
| 512 | }
|
---|