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
253 lines
11 KiB
C
253 lines
11 KiB
C
// MESSAGE GPS_STATUS PACKING
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#define MAVLINK_MSG_ID_GPS_STATUS 27
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typedef struct __mavlink_gps_status_t
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{
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uint8_t satellites_visible; ///< Number of satellites visible
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int8_t satellite_prn[20]; ///< Global satellite ID
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int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
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int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
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int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
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} mavlink_gps_status_t;
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#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
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#define MAVLINK_MSG_ID_27_LEN 101
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
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#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
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"GPS_STATUS", \
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6, \
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{ { "satellites_visible", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
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{ "satellite_prn", MAVLINK_TYPE_INT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
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{ "satellite_used", MAVLINK_TYPE_INT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
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{ "satellite_elevation", MAVLINK_TYPE_INT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
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{ "satellite_azimuth", MAVLINK_TYPE_INT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
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{ "satellite_snr", MAVLINK_TYPE_INT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
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} \
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}
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/**
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* @brief Pack a gps_status 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 satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr Signal to noise ratio of satellite
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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_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[101];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_int8_t_array(buf, 21, satellite_used, 20);
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_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
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memcpy(_MAV_PAYLOAD(msg), buf, 101);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
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memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
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memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
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memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
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memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
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memcpy(_MAV_PAYLOAD(msg), &packet, 101);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, 101);
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}
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/**
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* @brief Pack a gps_status 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 satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr Signal to noise ratio of satellite
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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_status_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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uint8_t satellites_visible,const int8_t *satellite_prn,const int8_t *satellite_used,const int8_t *satellite_elevation,const int8_t *satellite_azimuth,const int8_t *satellite_snr)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[101];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_int8_t_array(buf, 21, satellite_used, 20);
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_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
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memcpy(_MAV_PAYLOAD(msg), buf, 101);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
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memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
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memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
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memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
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memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
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memcpy(_MAV_PAYLOAD(msg), &packet, 101);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101);
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}
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/**
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* @brief Encode a gps_status 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_status C-struct to read the message contents from
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*/
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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)
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{
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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);
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}
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/**
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* @brief Send a gps_status message
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* @param chan MAVLink channel to send the message
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*
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* @param satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr Signal to noise ratio of satellite
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[101];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_int8_t_array(buf, 21, satellite_used, 20);
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_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
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memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
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memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
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memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
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memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101);
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#endif
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}
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#endif
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// MESSAGE GPS_STATUS UNPACKING
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/**
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* @brief Get field satellites_visible from gps_status message
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*
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* @return Number of satellites visible
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*/
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static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Get field satellite_prn from gps_status message
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*
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* @return Global satellite ID
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t *satellite_prn)
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{
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return _MAV_RETURN_int8_t_array(msg, satellite_prn, 20, 1);
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}
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/**
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* @brief Get field satellite_used from gps_status message
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*
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* @return 0: Satellite not used, 1: used for localization
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t *satellite_used)
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{
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return _MAV_RETURN_int8_t_array(msg, satellite_used, 20, 21);
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}
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/**
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* @brief Get field satellite_elevation from gps_status message
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*
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* @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t *satellite_elevation)
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{
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return _MAV_RETURN_int8_t_array(msg, satellite_elevation, 20, 41);
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}
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/**
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* @brief Get field satellite_azimuth from gps_status message
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*
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* @return Direction of satellite, 0: 0 deg, 255: 360 deg.
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t *satellite_azimuth)
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{
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return _MAV_RETURN_int8_t_array(msg, satellite_azimuth, 20, 61);
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}
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/**
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* @brief Get field satellite_snr from gps_status message
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*
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* @return Signal to noise ratio of satellite
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t *satellite_snr)
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{
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return _MAV_RETURN_int8_t_array(msg, satellite_snr, 20, 81);
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}
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/**
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* @brief Decode a gps_status message into a struct
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*
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* @param msg The message to decode
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* @param gps_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
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mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
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mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
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mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
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mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
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mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
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#else
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memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
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#endif
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}
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