diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h | 188 |
1 files changed, 188 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h new file mode 100644 index 000000000..2084718b5 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h @@ -0,0 +1,188 @@ +// MESSAGE GPS_GLOBAL_ORIGIN PACKING + +#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49 + +typedef struct __mavlink_gps_global_origin_t +{ + int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 + int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 + int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 +} mavlink_gps_global_origin_t; + +#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12 +#define MAVLINK_MSG_ID_49_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \ + "GPS_GLOBAL_ORIGIN", \ + 3, \ + { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \ + { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \ + { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \ + } \ +} + + +/** + * @brief Pack a gps_global_origin 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); +#else + mavlink_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; + return mavlink_finalize_message(msg, system_id, component_id, 12, 39); +} + +/** + * @brief Pack a gps_global_origin 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + int32_t latitude,int32_t longitude,int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); +#else + mavlink_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 39); +} + +/** + * @brief Encode a gps_global_origin 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_global_origin C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin) +{ + return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude); +} + +/** + * @brief Send a gps_global_origin message + * @param chan MAVLink channel to send the message + * + * @param latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_int32_t(buf, 0, latitude); + _mav_put_int32_t(buf, 4, longitude); + _mav_put_int32_t(buf, 8, altitude); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, 12, 39); +#else + mavlink_gps_global_origin_t packet; + packet.latitude = latitude; + packet.longitude = longitude; + packet.altitude = altitude; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, 12, 39); +#endif +} + +#endif + +// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING + + +/** + * @brief Get field latitude from gps_global_origin message + * + * @return Latitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 0); +} + +/** + * @brief Get field longitude from gps_global_origin message + * + * @return Longitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 4); +} + +/** + * @brief Get field altitude from gps_global_origin message + * + * @return Altitude(WGS84), expressed as * 1000 + */ +static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Decode a gps_global_origin message into a struct + * + * @param msg The message to decode + * @param gps_global_origin C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg); + gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg); + gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg); +#else + memcpy(gps_global_origin, _MAV_PAYLOAD(msg), 12); +#endif +} |