Ardupilot2/libraries/GCS_MAVLink/include/common/mavlink_msg_gps_raw.h

// 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)
	uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix
	float lat; ///< X Position
	float lon; ///< Y Position
	float alt; ///< Z Position in meters
	float eph; ///< Uncertainty in meters of latitude
	float epv; ///< Uncertainty in meters of longitude
	float v; ///< Overall speed
	float hdg; ///< Heading, in FIXME

} mavlink_gps_raw_t;



/**
 * @brief Send a gps_raw message
 *
 * @param usec Timestamp (microseconds since unix epoch)
 * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix
 * @param lat X Position
 * @param lon Y Position
 * @param alt Z Position in meters
 * @param eph Uncertainty in meters of latitude
 * @param epv Uncertainty in meters of longitude
 * @param v Overall speed
 * @param hdg Heading, in FIXME
 * @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)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_GPS_RAW;

	i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since unix epoch)
	i += put_uint8_t_by_index(fix_type, i, msg->payload); //0-1: no fix, 2: 2D fix, 3: 3D fix
	i += put_float_by_index(lat, i, msg->payload); //X Position
	i += put_float_by_index(lon, i, msg->payload); //Y Position
	i += put_float_by_index(alt, i, msg->payload); //Z Position in meters
	i += put_float_by_index(eph, i, msg->payload); //Uncertainty in meters of latitude
	i += put_float_by_index(epv, i, msg->payload); //Uncertainty in meters of longitude
	i += put_float_by_index(v, i, msg->payload); //Overall speed
	i += put_float_by_index(hdg, i, msg->payload); //Heading, in FIXME

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

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)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_GPS_RAW;

	i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds since unix epoch)
	i += put_uint8_t_by_index(fix_type, i, msg->payload); //0-1: no fix, 2: 2D fix, 3: 3D fix
	i += put_float_by_index(lat, i, msg->payload); //X Position
	i += put_float_by_index(lon, i, msg->payload); //Y Position
	i += put_float_by_index(alt, i, msg->payload); //Z Position in meters
	i += put_float_by_index(eph, i, msg->payload); //Uncertainty in meters of latitude
	i += put_float_by_index(epv, i, msg->payload); //Uncertainty in meters of longitude
	i += put_float_by_index(v, i, msg->payload); //Overall speed
	i += put_float_by_index(hdg, i, msg->payload); //Heading, in FIXME

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

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);
}

#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)
{
	mavlink_message_t msg;
	mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE GPS_RAW UNPACKING

/**
 * @brief Get field usec from gps_raw message
 *
 * @return Timestamp (microseconds since unix epoch)
 */
static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
{
	generic_64bit r;
	r.b[7] = (msg->payload)[0];
	r.b[6] = (msg->payload)[1];
	r.b[5] = (msg->payload)[2];
	r.b[4] = (msg->payload)[3];
	r.b[3] = (msg->payload)[4];
	r.b[2] = (msg->payload)[5];
	r.b[1] = (msg->payload)[6];
	r.b[0] = (msg->payload)[7];
	return (uint64_t)r.ll;
}

/**
 * @brief Get field fix_type from gps_raw message
 *
 * @return 0-1: no fix, 2: 2D fix, 3: 3D fix
 */
static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
}

/**
 * @brief Get field lat from gps_raw message
 *
 * @return X Position
 */
static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
	return (float)r.f;
}

/**
 * @brief Get field lon from gps_raw message
 *
 * @return Y Position
 */
static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field alt from gps_raw message
 *
 * @return Z Position in meters
 */
static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field eph from gps_raw message
 *
 * @return Uncertainty in meters of latitude
 */
static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field epv from gps_raw message
 *
 * @return Uncertainty in meters of longitude
 */
static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field v from gps_raw message
 *
 * @return Overall speed
 */
static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field hdg from gps_raw message
 *
 * @return Heading, in FIXME
 */
static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
{
	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);
}