3ae2186021
this new implementation reduces code size, and also reduces stack usage, while avoiding the gcc union stack bug Note that we will gain even more when we move to the new protocol version, especially in terms of code size git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
321 lines
10 KiB
C
321 lines
10 KiB
C
// MESSAGE GPS_RAW PACKING
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#define MAVLINK_MSG_ID_GPS_RAW 32
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typedef struct __mavlink_gps_raw_t
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{
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uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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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.
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float lat; ///< Latitude in degrees
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float lon; ///< Longitude in degrees
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float alt; ///< Altitude in meters
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float eph; ///< GPS HDOP
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float epv; ///< GPS VDOP
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float v; ///< GPS ground speed
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float hdg; ///< Compass heading in degrees, 0..360 degrees
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} mavlink_gps_raw_t;
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#define MAVLINK_MSG_ID_GPS_RAW_LEN 37
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#define MAVLINK_MSG_ID_32_LEN 37
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#define MAVLINK_MESSAGE_INFO_GPS_RAW { \
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"GPS_RAW", \
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9, \
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{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
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{ "fix_type", MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \
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{ "lat", MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \
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{ "lon", MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \
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{ "alt", MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \
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{ "eph", MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \
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{ "epv", MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \
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{ "v", MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \
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{ "hdg", MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \
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} \
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}
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/**
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* @brief Pack a gps_raw message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @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.
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* @param lat Latitude in degrees
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* @param lon Longitude in degrees
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* @param alt Altitude in meters
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* @param eph GPS HDOP
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* @param epv GPS VDOP
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* @param v GPS ground speed
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* @param hdg Compass heading in degrees, 0..360 degrees
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[37];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_uint8_t(buf, 8, fix_type);
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_mav_put_float(buf, 9, lat);
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_mav_put_float(buf, 13, lon);
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_mav_put_float(buf, 17, alt);
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_mav_put_float(buf, 21, eph);
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_mav_put_float(buf, 25, epv);
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_mav_put_float(buf, 29, v);
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_mav_put_float(buf, 33, hdg);
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memcpy(_MAV_PAYLOAD(msg), buf, 37);
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#else
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mavlink_gps_raw_t packet;
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packet.usec = usec;
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packet.fix_type = fix_type;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.eph = eph;
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packet.epv = epv;
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packet.v = v;
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packet.hdg = hdg;
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memcpy(_MAV_PAYLOAD(msg), &packet, 37);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
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return mavlink_finalize_message(msg, system_id, component_id, 37);
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}
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/**
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* @brief Pack a gps_raw message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @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.
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* @param lat Latitude in degrees
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* @param lon Longitude in degrees
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* @param alt Altitude in meters
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* @param eph GPS HDOP
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* @param epv GPS VDOP
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* @param v GPS ground speed
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* @param hdg Compass heading in degrees, 0..360 degrees
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[37];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_uint8_t(buf, 8, fix_type);
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_mav_put_float(buf, 9, lat);
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_mav_put_float(buf, 13, lon);
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_mav_put_float(buf, 17, alt);
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_mav_put_float(buf, 21, eph);
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_mav_put_float(buf, 25, epv);
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_mav_put_float(buf, 29, v);
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_mav_put_float(buf, 33, hdg);
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memcpy(_MAV_PAYLOAD(msg), buf, 37);
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#else
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mavlink_gps_raw_t packet;
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packet.usec = usec;
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packet.fix_type = fix_type;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.eph = eph;
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packet.epv = epv;
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packet.v = v;
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packet.hdg = hdg;
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memcpy(_MAV_PAYLOAD(msg), &packet, 37);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
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}
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/**
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* @brief Encode a gps_raw struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param gps_raw C-struct to read the message contents from
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*/
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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)
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{
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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);
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}
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/**
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* @brief Send a gps_raw message
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* @param chan MAVLink channel to send the message
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*
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @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.
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* @param lat Latitude in degrees
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* @param lon Longitude in degrees
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* @param alt Altitude in meters
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* @param eph GPS HDOP
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* @param epv GPS VDOP
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* @param v GPS ground speed
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* @param hdg Compass heading in degrees, 0..360 degrees
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[37];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_uint8_t(buf, 8, fix_type);
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_mav_put_float(buf, 9, lat);
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_mav_put_float(buf, 13, lon);
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_mav_put_float(buf, 17, alt);
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_mav_put_float(buf, 21, eph);
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_mav_put_float(buf, 25, epv);
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_mav_put_float(buf, 29, v);
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_mav_put_float(buf, 33, hdg);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37);
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#else
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mavlink_gps_raw_t packet;
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packet.usec = usec;
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packet.fix_type = fix_type;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.eph = eph;
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packet.epv = epv;
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packet.v = v;
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packet.hdg = hdg;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37);
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#endif
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}
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#endif
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// MESSAGE GPS_RAW UNPACKING
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/**
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* @brief Get field usec from gps_raw message
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*
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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*/
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static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field fix_type from gps_raw message
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*
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* @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.
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*/
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static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field lat from gps_raw message
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*
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* @return Latitude in degrees
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*/
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static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 9);
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}
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/**
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* @brief Get field lon from gps_raw message
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*
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* @return Longitude in degrees
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*/
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static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 13);
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}
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/**
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* @brief Get field alt from gps_raw message
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*
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* @return Altitude in meters
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*/
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static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 17);
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}
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/**
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* @brief Get field eph from gps_raw message
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*
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* @return GPS HDOP
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*/
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static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 21);
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}
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/**
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* @brief Get field epv from gps_raw message
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*
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* @return GPS VDOP
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*/
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static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 25);
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}
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/**
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* @brief Get field v from gps_raw message
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*
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* @return GPS ground speed
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*/
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static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 29);
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}
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/**
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* @brief Get field hdg from gps_raw message
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*
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* @return Compass heading in degrees, 0..360 degrees
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*/
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static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 33);
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}
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/**
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* @brief Decode a gps_raw message into a struct
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*
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* @param msg The message to decode
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* @param gps_raw C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
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gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
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gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
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gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg);
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gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg);
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gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg);
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gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
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gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
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gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
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#else
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memcpy(gps_raw, _MAV_PAYLOAD(msg), 37);
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#endif
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}
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