diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h | 252 |
1 files changed, 252 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h new file mode 100644 index 000000000..bd3257f88 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h @@ -0,0 +1,252 @@ +// MESSAGE GPS_STATUS PACKING + +#define MAVLINK_MSG_ID_GPS_STATUS 25 + +typedef struct __mavlink_gps_status_t +{ + uint8_t satellites_visible; ///< Number of satellites visible + uint8_t satellite_prn[20]; ///< Global satellite ID + uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization + uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite + uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. + uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite +} mavlink_gps_status_t; + +#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101 +#define MAVLINK_MSG_ID_25_LEN 101 + +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 +#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 + +#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \ + "GPS_STATUS", \ + 6, \ + { { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \ + { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \ + { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \ + { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \ + { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \ + { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \ + } \ +} + + +/** + * @brief Pack a gps_status 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 satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_uint8_t_array(buf, 1, satellite_prn, 20); + _mav_put_uint8_t_array(buf, 21, satellite_used, 20); + _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message(msg, system_id, component_id, 101, 23); +} + +/** + * @brief Pack a gps_status 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 satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_uint8_t_array(buf, 1, satellite_prn, 20); + _mav_put_uint8_t_array(buf, 21, satellite_used, 20); + _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 101); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 101); +#endif + + msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101, 23); +} + +/** + * @brief Encode a gps_status 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_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status) +{ + return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr); +} + +/** + * @brief Send a gps_status message + * @param chan MAVLink channel to send the message + * + * @param satellites_visible Number of satellites visible + * @param satellite_prn Global satellite ID + * @param satellite_used 0: Satellite not used, 1: used for localization + * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite + * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. + * @param satellite_snr Signal to noise ratio of satellite + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[101]; + _mav_put_uint8_t(buf, 0, satellites_visible); + _mav_put_uint8_t_array(buf, 1, satellite_prn, 20); + _mav_put_uint8_t_array(buf, 21, satellite_used, 20); + _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20); + _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20); + _mav_put_uint8_t_array(buf, 81, satellite_snr, 20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101, 23); +#else + mavlink_gps_status_t packet; + packet.satellites_visible = satellites_visible; + mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20); + mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101, 23); +#endif +} + +#endif + +// MESSAGE GPS_STATUS UNPACKING + + +/** + * @brief Get field satellites_visible from gps_status message + * + * @return Number of satellites visible + */ +static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Get field satellite_prn from gps_status message + * + * @return Global satellite ID + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn) +{ + return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20, 1); +} + +/** + * @brief Get field satellite_used from gps_status message + * + * @return 0: Satellite not used, 1: used for localization + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used) +{ + return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20, 21); +} + +/** + * @brief Get field satellite_elevation from gps_status message + * + * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation) +{ + return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20, 41); +} + +/** + * @brief Get field satellite_azimuth from gps_status message + * + * @return Direction of satellite, 0: 0 deg, 255: 360 deg. + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth) +{ + return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20, 61); +} + +/** + * @brief Get field satellite_snr from gps_status message + * + * @return Signal to noise ratio of satellite + */ +static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr) +{ + return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20, 81); +} + +/** + * @brief Decode a gps_status message into a struct + * + * @param msg The message to decode + * @param gps_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) +{ +#if MAVLINK_NEED_BYTE_SWAP + gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg); + mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn); + mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used); + mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation); + mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth); + mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr); +#else + memcpy(gps_status, _MAV_PAYLOAD(msg), 101); +#endif +} |