use mavlink

1 files changed, 473 insertions, 0 deletions

diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_gps2_raw.h b/ext/mavlink/include/mavlink/common/mavlink_msg_gps2_raw.h
new file mode 100644
index 0000000..84f15bf
--- /dev/null
+++ b/ext/mavlink/include/mavlink/common/mavlink_msg_gps2_raw.h
@@ -0,0 +1,473 @@
+// MESSAGE GPS2_RAW PACKING
+
+#define MAVLINK_MSG_ID_GPS2_RAW 124
+
+typedef struct __mavlink_gps2_raw_t
+{
+ uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
+ int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
+ int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
+ uint32_t dgps_age; ///< Age of DGPS info
+ uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ 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
+ 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.
+ uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
+ uint8_t dgps_numch; ///< Number of DGPS satellites
+} mavlink_gps2_raw_t;
+
+#define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
+#define MAVLINK_MSG_ID_124_LEN 35
+
+#define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
+#define MAVLINK_MSG_ID_124_CRC 87
+
+
+
+#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
+	"GPS2_RAW", \
+	12, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
+         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
+         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
+         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
+         { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
+         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
+         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
+         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
+         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
+         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
+         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
+         { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a gps2_raw message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @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
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a gps2_raw message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @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
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a gps2_raw struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param gps2_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
+{
+	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);
+}
+
+/**
+ * @brief Encode a gps2_raw struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param gps2_raw C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
+{
+	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);
+}
+
+/**
+ * @brief Send a gps2_raw message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude (WGS84), in degrees * 1E7
+ * @param lon Longitude (WGS84), in degrees * 1E7
+ * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
+ * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ * @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
+ * @param satellites_visible Number of satellites visible. If unknown, set to 255
+ * @param dgps_numch Number of DGPS satellites
+ * @param dgps_age Age of DGPS info
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#else
+	mavlink_gps2_raw_t packet;
+	packet.time_usec = time_usec;
+	packet.lat = lat;
+	packet.lon = lon;
+	packet.alt = alt;
+	packet.dgps_age = dgps_age;
+	packet.eph = eph;
+	packet.epv = epv;
+	packet.vel = vel;
+	packet.cog = cog;
+	packet.fix_type = fix_type;
+	packet.satellites_visible = satellites_visible;
+	packet.dgps_numch = dgps_numch;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#endif
+}
+
+#if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  is usually the receive buffer for the channel, and allows a reply to an
+  incoming message with minimum stack space usage.
+ */
+static inline void mavlink_msg_gps2_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_int32_t(buf, 8, lat);
+	_mav_put_int32_t(buf, 12, lon);
+	_mav_put_int32_t(buf, 16, alt);
+	_mav_put_uint32_t(buf, 20, dgps_age);
+	_mav_put_uint16_t(buf, 24, eph);
+	_mav_put_uint16_t(buf, 26, epv);
+	_mav_put_uint16_t(buf, 28, vel);
+	_mav_put_uint16_t(buf, 30, cog);
+	_mav_put_uint8_t(buf, 32, fix_type);
+	_mav_put_uint8_t(buf, 33, satellites_visible);
+	_mav_put_uint8_t(buf, 34, dgps_numch);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#else
+	mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
+	packet->time_usec = time_usec;
+	packet->lat = lat;
+	packet->lon = lon;
+	packet->alt = alt;
+	packet->dgps_age = dgps_age;
+	packet->eph = eph;
+	packet->epv = epv;
+	packet->vel = vel;
+	packet->cog = cog;
+	packet->fix_type = fix_type;
+	packet->satellites_visible = satellites_visible;
+	packet->dgps_numch = dgps_numch;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE GPS2_RAW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from gps2_raw message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field fix_type from gps2_raw message
+ *
+ * @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.
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  32);
+}
+
+/**
+ * @brief Get field lat from gps2_raw message
+ *
+ * @return Latitude (WGS84), in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  8);
+}
+
+/**
+ * @brief Get field lon from gps2_raw message
+ *
+ * @return Longitude (WGS84), in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  12);
+}
+
+/**
+ * @brief Get field alt from gps2_raw message
+ *
+ * @return Altitude (WGS84), in meters * 1000 (positive for up)
+ */
+static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  16);
+}
+
+/**
+ * @brief Get field eph from gps2_raw message
+ *
+ * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  24);
+}
+
+/**
+ * @brief Get field epv from gps2_raw message
+ *
+ * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  26);
+}
+
+/**
+ * @brief Get field vel from gps2_raw message
+ *
+ * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  28);
+}
+
+/**
+ * @brief Get field cog from gps2_raw message
+ *
+ * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ */
+static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  30);
+}
+
+/**
+ * @brief Get field satellites_visible from gps2_raw message
+ *
+ * @return Number of satellites visible. If unknown, set to 255
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  33);
+}
+
+/**
+ * @brief Get field dgps_numch from gps2_raw message
+ *
+ * @return Number of DGPS satellites
+ */
+static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  34);
+}
+
+/**
+ * @brief Get field dgps_age from gps2_raw message
+ *
+ * @return Age of DGPS info
+ */
+static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  20);
+}
+
+/**
+ * @brief Decode a gps2_raw message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps2_raw C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
+	gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
+	gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
+	gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
+	gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
+	gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
+	gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
+	gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
+	gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
+	gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
+	gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
+	gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
+#else
+	memcpy(gps2_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS2_RAW_LEN);
+#endif
+}