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

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

m

File size: 15.1 KB
Line 
1// MESSAGE TERRAIN_REPORT PACKING
2
3#define MAVLINK_MSG_ID_TERRAIN_REPORT 136
4
5typedef struct MAVLINK_PACKED __mavlink_terrain_report_t
6{
7 int32_t lat; /*< Latitude (degrees *10^7)*/
8 int32_t lon; /*< Longitude (degrees *10^7)*/
9 float terrain_height; /*< Terrain height in meters AMSL*/
10 float current_height; /*< Current vehicle height above lat/lon terrain height (meters)*/
11 uint16_t spacing; /*< grid spacing (zero if terrain at this location unavailable)*/
12 uint16_t pending; /*< Number of 4x4 terrain blocks waiting to be received or read from disk*/
13 uint16_t loaded; /*< Number of 4x4 terrain blocks in memory*/
14} mavlink_terrain_report_t;
15
16#define MAVLINK_MSG_ID_TERRAIN_REPORT_LEN 22
17#define MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN 22
18#define MAVLINK_MSG_ID_136_LEN 22
19#define MAVLINK_MSG_ID_136_MIN_LEN 22
20
21#define MAVLINK_MSG_ID_TERRAIN_REPORT_CRC 1
22#define MAVLINK_MSG_ID_136_CRC 1
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
28        136, \
29        "TERRAIN_REPORT", \
30        7, \
31        {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
32         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
33         { "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
34         { "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
35         { "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
36         { "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
37         { "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
42        "TERRAIN_REPORT", \
43        7, \
44        {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
45         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
46         { "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
47         { "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
48         { "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
49         { "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
50         { "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a terrain_report message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param lat Latitude (degrees *10^7)
62 * @param lon Longitude (degrees *10^7)
63 * @param spacing grid spacing (zero if terrain at this location unavailable)
64 * @param terrain_height Terrain height in meters AMSL
65 * @param current_height Current vehicle height above lat/lon terrain height (meters)
66 * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
67 * @param loaded Number of 4x4 terrain blocks in memory
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_terrain_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
75        _mav_put_int32_t(buf, 0, lat);
76        _mav_put_int32_t(buf, 4, lon);
77        _mav_put_float(buf, 8, terrain_height);
78        _mav_put_float(buf, 12, current_height);
79        _mav_put_uint16_t(buf, 16, spacing);
80        _mav_put_uint16_t(buf, 18, pending);
81        _mav_put_uint16_t(buf, 20, loaded);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
84#else
85        mavlink_terrain_report_t packet;
86        packet.lat = lat;
87        packet.lon = lon;
88        packet.terrain_height = terrain_height;
89        packet.current_height = current_height;
90        packet.spacing = spacing;
91        packet.pending = pending;
92        packet.loaded = loaded;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
99}
100
101/**
102 * @brief Pack a terrain_report message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param lat Latitude (degrees *10^7)
108 * @param lon Longitude (degrees *10^7)
109 * @param spacing grid spacing (zero if terrain at this location unavailable)
110 * @param terrain_height Terrain height in meters AMSL
111 * @param current_height Current vehicle height above lat/lon terrain height (meters)
112 * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
113 * @param loaded Number of 4x4 terrain blocks in memory
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_terrain_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           int32_t lat,int32_t lon,uint16_t spacing,float terrain_height,float current_height,uint16_t pending,uint16_t loaded)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
122        _mav_put_int32_t(buf, 0, lat);
123        _mav_put_int32_t(buf, 4, lon);
124        _mav_put_float(buf, 8, terrain_height);
125        _mav_put_float(buf, 12, current_height);
126        _mav_put_uint16_t(buf, 16, spacing);
127        _mav_put_uint16_t(buf, 18, pending);
128        _mav_put_uint16_t(buf, 20, loaded);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
131#else
132        mavlink_terrain_report_t packet;
133        packet.lat = lat;
134        packet.lon = lon;
135        packet.terrain_height = terrain_height;
136        packet.current_height = current_height;
137        packet.spacing = spacing;
138        packet.pending = pending;
139        packet.loaded = loaded;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
146}
147
148/**
149 * @brief Encode a terrain_report struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param terrain_report C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_terrain_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
157{
158        return mavlink_msg_terrain_report_pack(system_id, component_id, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
159}
160
161/**
162 * @brief Encode a terrain_report struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param terrain_report C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_terrain_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
171{
172        return mavlink_msg_terrain_report_pack_chan(system_id, component_id, chan, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
173}
174
175/**
176 * @brief Send a terrain_report message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param lat Latitude (degrees *10^7)
180 * @param lon Longitude (degrees *10^7)
181 * @param spacing grid spacing (zero if terrain at this location unavailable)
182 * @param terrain_height Terrain height in meters AMSL
183 * @param current_height Current vehicle height above lat/lon terrain height (meters)
184 * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
185 * @param loaded Number of 4x4 terrain blocks in memory
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_terrain_report_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
193        _mav_put_int32_t(buf, 0, lat);
194        _mav_put_int32_t(buf, 4, lon);
195        _mav_put_float(buf, 8, terrain_height);
196        _mav_put_float(buf, 12, current_height);
197        _mav_put_uint16_t(buf, 16, spacing);
198        _mav_put_uint16_t(buf, 18, pending);
199        _mav_put_uint16_t(buf, 20, loaded);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
202#else
203        mavlink_terrain_report_t packet;
204        packet.lat = lat;
205        packet.lon = lon;
206        packet.terrain_height = terrain_height;
207        packet.current_height = current_height;
208        packet.spacing = spacing;
209        packet.pending = pending;
210        packet.loaded = loaded;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
213#endif
214}
215
216/**
217 * @brief Send a terrain_report message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_terrain_report_send_struct(mavlink_channel_t chan, const mavlink_terrain_report_t* terrain_report)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_terrain_report_send(chan, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)terrain_report, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_TERRAIN_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232  This varient of _send() can be used to save stack space by re-using
233  memory from the receive buffer.  The caller provides a
234  mavlink_message_t which is the size of a full mavlink message. This
235  is usually the receive buffer for the channel, and allows a reply to an
236  incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_terrain_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_int32_t(buf, 0, lat);
243        _mav_put_int32_t(buf, 4, lon);
244        _mav_put_float(buf, 8, terrain_height);
245        _mav_put_float(buf, 12, current_height);
246        _mav_put_uint16_t(buf, 16, spacing);
247        _mav_put_uint16_t(buf, 18, pending);
248        _mav_put_uint16_t(buf, 20, loaded);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
251#else
252        mavlink_terrain_report_t *packet = (mavlink_terrain_report_t *)msgbuf;
253        packet->lat = lat;
254        packet->lon = lon;
255        packet->terrain_height = terrain_height;
256        packet->current_height = current_height;
257        packet->spacing = spacing;
258        packet->pending = pending;
259        packet->loaded = loaded;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE TERRAIN_REPORT UNPACKING
269
270
271/**
272 * @brief Get field lat from terrain_report message
273 *
274 * @return Latitude (degrees *10^7)
275 */
276static inline int32_t mavlink_msg_terrain_report_get_lat(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_int32_t(msg,  0);
279}
280
281/**
282 * @brief Get field lon from terrain_report message
283 *
284 * @return Longitude (degrees *10^7)
285 */
286static inline int32_t mavlink_msg_terrain_report_get_lon(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_int32_t(msg,  4);
289}
290
291/**
292 * @brief Get field spacing from terrain_report message
293 *
294 * @return grid spacing (zero if terrain at this location unavailable)
295 */
296static inline uint16_t mavlink_msg_terrain_report_get_spacing(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_uint16_t(msg,  16);
299}
300
301/**
302 * @brief Get field terrain_height from terrain_report message
303 *
304 * @return Terrain height in meters AMSL
305 */
306static inline float mavlink_msg_terrain_report_get_terrain_height(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  8);
309}
310
311/**
312 * @brief Get field current_height from terrain_report message
313 *
314 * @return Current vehicle height above lat/lon terrain height (meters)
315 */
316static inline float mavlink_msg_terrain_report_get_current_height(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_float(msg,  12);
319}
320
321/**
322 * @brief Get field pending from terrain_report message
323 *
324 * @return Number of 4x4 terrain blocks waiting to be received or read from disk
325 */
326static inline uint16_t mavlink_msg_terrain_report_get_pending(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_uint16_t(msg,  18);
329}
330
331/**
332 * @brief Get field loaded from terrain_report message
333 *
334 * @return Number of 4x4 terrain blocks in memory
335 */
336static inline uint16_t mavlink_msg_terrain_report_get_loaded(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_uint16_t(msg,  20);
339}
340
341/**
342 * @brief Decode a terrain_report message into a struct
343 *
344 * @param msg The message to decode
345 * @param terrain_report C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_terrain_report_decode(const mavlink_message_t* msg, mavlink_terrain_report_t* terrain_report)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        terrain_report->lat = mavlink_msg_terrain_report_get_lat(msg);
351        terrain_report->lon = mavlink_msg_terrain_report_get_lon(msg);
352        terrain_report->terrain_height = mavlink_msg_terrain_report_get_terrain_height(msg);
353        terrain_report->current_height = mavlink_msg_terrain_report_get_current_height(msg);
354        terrain_report->spacing = mavlink_msg_terrain_report_get_spacing(msg);
355        terrain_report->pending = mavlink_msg_terrain_report_get_pending(msg);
356        terrain_report->loaded = mavlink_msg_terrain_report_get_loaded(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_TERRAIN_REPORT_LEN? msg->len : MAVLINK_MSG_ID_TERRAIN_REPORT_LEN;
359        memset(terrain_report, 0, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
360        memcpy(terrain_report, _MAV_PAYLOAD(msg), len);
361#endif
362}
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