diff options
Diffstat (limited to 'mavlink/include/mavlink/v0.9/common/mavlink_msg_gps_raw.h')
| -rw-r--r-- | mavlink/include/mavlink/v0.9/common/mavlink_msg_gps_raw.h | 320 |
1 files changed, 320 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v0.9/common/mavlink_msg_gps_raw.h b/mavlink/include/mavlink/v0.9/common/mavlink_msg_gps_raw.h new file mode 100644 index 000000000..255cb27be --- /dev/null +++ b/mavlink/include/mavlink/v0.9/common/mavlink_msg_gps_raw.h @@ -0,0 +1,320 @@ +// MESSAGE GPS_RAW PACKING + +#define MAVLINK_MSG_ID_GPS_RAW 32 + +typedef struct __mavlink_gps_raw_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + 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. + float lat; ///< Latitude in degrees + float lon; ///< Longitude in degrees + float alt; ///< Altitude in meters + float eph; ///< GPS HDOP + float epv; ///< GPS VDOP + float v; ///< GPS ground speed + float hdg; ///< Compass heading in degrees, 0..360 degrees +} mavlink_gps_raw_t; + +#define MAVLINK_MSG_ID_GPS_RAW_LEN 37 +#define MAVLINK_MSG_ID_32_LEN 37 + + + +#define MAVLINK_MESSAGE_INFO_GPS_RAW { \ + "GPS_RAW", \ + 9, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \ + { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \ + { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \ + { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \ + { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \ + } \ +} + + +/** + * @brief Pack a gps_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 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 in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW; + return mavlink_finalize_message(msg, system_id, component_id, 37); +} + +/** + * @brief Pack a gps_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 was sent over + * @param msg The MAVLink message to compress the data into + * @param 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 in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_RAW; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37); +} + +/** + * @brief Encode a gps_raw struct into a 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 gps_raw C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw) +{ + return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg); +} + +/** + * @brief Send a gps_raw message + * @param chan MAVLink channel to send the message + * + * @param 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 in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param eph GPS HDOP + * @param epv GPS VDOP + * @param v GPS ground speed + * @param hdg Compass heading in degrees, 0..360 degrees + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[37]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_uint8_t(buf, 8, fix_type); + _mav_put_float(buf, 9, lat); + _mav_put_float(buf, 13, lon); + _mav_put_float(buf, 17, alt); + _mav_put_float(buf, 21, eph); + _mav_put_float(buf, 25, epv); + _mav_put_float(buf, 29, v); + _mav_put_float(buf, 33, hdg); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37); +#else + mavlink_gps_raw_t packet; + packet.usec = usec; + packet.fix_type = fix_type; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.v = v; + packet.hdg = hdg; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37); +#endif +} + +#endif + +// MESSAGE GPS_RAW UNPACKING + + +/** + * @brief Get field usec from gps_raw message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field fix_type from gps_raw 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_gps_raw_get_fix_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field lat from gps_raw message + * + * @return Latitude in degrees + */ +static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 9); +} + +/** + * @brief Get field lon from gps_raw message + * + * @return Longitude in degrees + */ +static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 13); +} + +/** + * @brief Get field alt from gps_raw message + * + * @return Altitude in meters + */ +static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 17); +} + +/** + * @brief Get field eph from gps_raw message + * + * @return GPS HDOP + */ +static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 21); +} + +/** + * @brief Get field epv from gps_raw message + * + * @return GPS VDOP + */ +static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 25); +} + +/** + * @brief Get field v from gps_raw message + * + * @return GPS ground speed + */ +static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 29); +} + +/** + * @brief Get field hdg from gps_raw message + * + * @return Compass heading in degrees, 0..360 degrees + */ +static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 33); +} + +/** + * @brief Decode a gps_raw message into a struct + * + * @param msg The message to decode + * @param gps_raw C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg); + gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg); + gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg); + gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg); + gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg); + gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg); + gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg); + gps_raw->v = mavlink_msg_gps_raw_get_v(msg); + gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg); +#else + memcpy(gps_raw, _MAV_PAYLOAD(msg), 37); +#endif +} |