diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h | 375 |
1 files changed, 0 insertions, 375 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h deleted file mode 100644 index a105f8cda..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h +++ /dev/null @@ -1,375 +0,0 @@ -// MESSAGE GPS_RAW_INT PACKING - -#define MAVLINK_MSG_ID_GPS_RAW_INT 24 - -typedef struct __mavlink_gps_raw_int_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: 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. 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_gps_raw_int_t; - -#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30 -#define MAVLINK_MSG_ID_24_LEN 30 - -#define MAVLINK_MSG_ID_GPS_RAW_INT_CRC 24 -#define MAVLINK_MSG_ID_24_CRC 24 - - - -#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \ - "GPS_RAW_INT", \ - 10, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \ - { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \ - { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \ - { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \ - { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \ - { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \ - { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \ - { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \ - { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \ - { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \ - } \ -} - - -/** - * @brief Pack a gps_raw_int 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: 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_raw_int_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) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_GPS_RAW_INT_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_uint16_t(buf, 26, cog); - _mav_put_uint8_t(buf, 28, fix_type); - _mav_put_uint8_t(buf, 29, satellites_visible); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#else - mavlink_gps_raw_int_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.cog = cog; - packet.fix_type = fix_type; - packet.satellites_visible = satellites_visible; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif -} - -/** - * @brief Pack a gps_raw_int 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: 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 - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_gps_raw_int_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) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_GPS_RAW_INT_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_uint16_t(buf, 26, cog); - _mav_put_uint8_t(buf, 28, fix_type); - _mav_put_uint8_t(buf, 29, satellites_visible); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#else - mavlink_gps_raw_int_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.cog = cog; - packet.fix_type = fix_type; - packet.satellites_visible = satellites_visible; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif -} - -/** - * @brief Encode a gps_raw_int 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 gps_raw_int C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int) -{ - return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible); -} - -/** - * @brief Encode a gps_raw_int 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 gps_raw_int C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int) -{ - return mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, chan, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible); -} - -/** - * @brief Send a gps_raw_int 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: 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 - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_gps_raw_int_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) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_GPS_RAW_INT_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_uint16_t(buf, 26, cog); - _mav_put_uint8_t(buf, 28, fix_type); - _mav_put_uint8_t(buf, 29, satellites_visible); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif -#else - mavlink_gps_raw_int_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.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_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif -#endif -} - -#endif - -// MESSAGE GPS_RAW_INT UNPACKING - - -/** - * @brief Get field time_usec from gps_raw_int message - * - * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) - */ -static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint64_t(msg, 0); -} - -/** - * @brief Get field fix_type from gps_raw_int 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_int_get_fix_type(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 28); -} - -/** - * @brief Get field lat from gps_raw_int message - * - * @return Latitude (WGS84), in degrees * 1E7 - */ -static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 8); -} - -/** - * @brief Get field lon from gps_raw_int message - * - * @return Longitude (WGS84), in degrees * 1E7 - */ -static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 12); -} - -/** - * @brief Get field alt from gps_raw_int message - * - * @return Altitude (WGS84), in meters * 1000 (positive for up) - */ -static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 16); -} - -/** - * @brief Get field eph from gps_raw_int message - * - * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - */ -static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 20); -} - -/** - * @brief Get field epv from gps_raw_int message - * - * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX - */ -static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 22); -} - -/** - * @brief Get field vel from gps_raw_int message - * - * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX - */ -static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 24); -} - -/** - * @brief Get field cog from gps_raw_int 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_gps_raw_int_get_cog(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint16_t(msg, 26); -} - -/** - * @brief Get field satellites_visible from gps_raw_int message - * - * @return Number of satellites visible. If unknown, set to 255 - */ -static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 29); -} - -/** - * @brief Decode a gps_raw_int message into a struct - * - * @param msg The message to decode - * @param gps_raw_int C-struct to decode the message contents into - */ -static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int) -{ -#if MAVLINK_NEED_BYTE_SWAP - gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg); - gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg); - gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg); - gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg); - gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg); - gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg); - gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg); - gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg); - gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg); - gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg); -#else - memcpy(gps_raw_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_RAW_INT_LEN); -#endif -} |