diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h | 441 |
1 files changed, 0 insertions, 441 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h deleted file mode 100644 index 91aec5b08..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h +++ /dev/null @@ -1,441 +0,0 @@ -// MESSAGE HIL_GPS PACKING - -#define MAVLINK_MSG_ID_HIL_GPS 113 - -typedef struct __mavlink_hil_gps_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) - uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 - uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535 - int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame - int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame - int16_t vd; ///< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame - 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 - 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. - uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255 -} mavlink_hil_gps_t; - -#define MAVLINK_MSG_ID_HIL_GPS_LEN 36 -#define MAVLINK_MSG_ID_113_LEN 36 - -#define MAVLINK_MSG_ID_HIL_GPS_CRC 124 -#define MAVLINK_MSG_ID_113_CRC 124 - - - -#define MAVLINK_MESSAGE_INFO_HIL_GPS { \ - "HIL_GPS", \ - 13, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \ - { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \ - { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \ - { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \ - { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \ - { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \ - { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \ - { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \ - { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \ - { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \ - { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \ - { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \ - { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \ - } \ -} - - -/** - * @brief Pack a hil_gps 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. 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: 65535 - * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 - * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 - * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame - * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame - * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame - * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - * @param satellites_visible Number of satellites visible. If unknown, set to 255 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_hil_gps_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, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_GPS_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_uint16_t(buf, 20, eph); - _mav_put_uint16_t(buf, 22, epv); - _mav_put_uint16_t(buf, 24, vel); - _mav_put_int16_t(buf, 26, vn); - _mav_put_int16_t(buf, 28, ve); - _mav_put_int16_t(buf, 30, vd); - _mav_put_uint16_t(buf, 32, cog); - _mav_put_uint8_t(buf, 34, fix_type); - _mav_put_uint8_t(buf, 35, satellites_visible); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN); -#else - mavlink_hil_gps_t packet; - packet.time_usec = time_usec; - packet.lat = lat; - packet.lon = lon; - packet.alt = alt; - packet.eph = eph; - packet.epv = epv; - packet.vel = vel; - packet.vn = vn; - packet.ve = ve; - packet.vd = vd; - packet.cog = cog; - packet.fix_type = fix_type; - packet.satellites_visible = satellites_visible; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_HIL_GPS; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif -} - -/** - * @brief Pack a hil_gps 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. 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: 65535 - * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 - * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 - * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame - * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame - * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame - * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - * @param satellites_visible Number of satellites visible. If unknown, set to 255 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_hil_gps_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,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_GPS_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_uint16_t(buf, 20, eph); - _mav_put_uint16_t(buf, 22, epv); - _mav_put_uint16_t(buf, 24, vel); - _mav_put_int16_t(buf, 26, vn); - _mav_put_int16_t(buf, 28, ve); - _mav_put_int16_t(buf, 30, vd); - _mav_put_uint16_t(buf, 32, cog); - _mav_put_uint8_t(buf, 34, fix_type); - _mav_put_uint8_t(buf, 35, satellites_visible); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN); -#else - mavlink_hil_gps_t packet; - packet.time_usec = time_usec; - packet.lat = lat; - packet.lon = lon; - packet.alt = alt; - packet.eph = eph; - packet.epv = epv; - packet.vel = vel; - packet.vn = vn; - packet.ve = ve; - packet.vd = vd; - packet.cog = cog; - packet.fix_type = fix_type; - packet.satellites_visible = satellites_visible; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_HIL_GPS; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif -} - -/** - * @brief Encode a hil_gps 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 hil_gps C-struct to read the message contents from - */ -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) -{ - 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); -} - -/** - * @brief Encode a hil_gps 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 hil_gps C-struct to read the message contents from - */ -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) -{ - 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); -} - -/** - * @brief Send a hil_gps 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. 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: 65535 - * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 - * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 - * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame - * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame - * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame - * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - * @param satellites_visible Number of satellites visible. If unknown, set to 255 - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -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) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_HIL_GPS_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_uint16_t(buf, 20, eph); - _mav_put_uint16_t(buf, 22, epv); - _mav_put_uint16_t(buf, 24, vel); - _mav_put_int16_t(buf, 26, vn); - _mav_put_int16_t(buf, 28, ve); - _mav_put_int16_t(buf, 30, vd); - _mav_put_uint16_t(buf, 32, cog); - _mav_put_uint8_t(buf, 34, fix_type); - _mav_put_uint8_t(buf, 35, satellites_visible); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif -#else - mavlink_hil_gps_t packet; - packet.time_usec = time_usec; - packet.lat = lat; - packet.lon = lon; - packet.alt = alt; - packet.eph = eph; - packet.epv = epv; - packet.vel = vel; - packet.vn = vn; - packet.ve = ve; - packet.vd = vd; - packet.cog = cog; - packet.fix_type = fix_type; - packet.satellites_visible = satellites_visible; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif -#endif -} - -#endif - -// MESSAGE HIL_GPS UNPACKING - - -/** - * @brief Get field time_usec from hil_gps message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint64_t(msg, 0); -} - -/** - * @brief Get field fix_type from hil_gps message - * - * @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. - */ -static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 34); -} - -/** - * @brief Get field lat from hil_gps message - * - * @return Latitude (WGS84), in degrees * 1E7 - */ -static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 8); -} - -/** - * @brief Get field lon from hil_gps message - * - * @return Longitude (WGS84), in degrees * 1E7 - */ -static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 12); -} - -/** - * @brief Get field alt from hil_gps message - * - * @return Altitude (WGS84), in meters * 1000 (positive for up) - */ -static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 16); -} - -/** - * @brief Get field eph from hil_gps message - * - * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 - */ -static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 20); -} - -/** - * @brief Get field epv from hil_gps message - * - * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 - */ -static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 22); -} - -/** - * @brief Get field vel from hil_gps message - * - * @return GPS ground speed (m/s * 100). If unknown, set to: 65535 - */ -static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 24); -} - -/** - * @brief Get field vn from hil_gps message - * - * @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame - */ -static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 26); -} - -/** - * @brief Get field ve from hil_gps message - * - * @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame - */ -static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 28); -} - -/** - * @brief Get field vd from hil_gps message - * - * @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame - */ -static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 30); -} - -/** - * @brief Get field cog from hil_gps message - * - * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 - */ -static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 32); -} - -/** - * @brief Get field satellites_visible from hil_gps message - * - * @return Number of satellites visible. If unknown, set to 255 - */ -static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 35); -} - -/** - * @brief Decode a hil_gps message into a struct - * - * @param msg The message to decode - * @param hil_gps C-struct to decode the message contents into - */ -static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps) -{ -#if MAVLINK_NEED_BYTE_SWAP - hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg); - hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg); - hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg); - hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg); - hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg); - hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg); - hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg); - hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg); - hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg); - hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg); - hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg); - hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg); - hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg); -#else - memcpy(hil_gps, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_GPS_LEN); -#endif -} |