6b4f84e267
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1685 f9c3cf11-9bcb-44bc-f272-b75c42450872
282 lines
12 KiB
C
282 lines
12 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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/**
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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, 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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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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i += put_uint8_t_by_index(fix_type, i, msg->payload); // 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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i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
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i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
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i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
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i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
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i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
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i += put_float_by_index(v, i, msg->payload); // GPS ground speed
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i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
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return mavlink_finalize_message(msg, system_id, component_id, i);
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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 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, 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)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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i += put_uint8_t_by_index(fix_type, i, msg->payload); // 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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i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
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i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
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i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
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i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
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i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
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i += put_float_by_index(v, i, msg->payload); // GPS ground speed
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i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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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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mavlink_message_t msg;
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mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
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mavlink_send_uart(chan, &msg);
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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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generic_64bit r;
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r.b[7] = (msg->payload)[0];
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r.b[6] = (msg->payload)[1];
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r.b[5] = (msg->payload)[2];
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r.b[4] = (msg->payload)[3];
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r.b[3] = (msg->payload)[4];
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r.b[2] = (msg->payload)[5];
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r.b[1] = (msg->payload)[6];
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r.b[0] = (msg->payload)[7];
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return (uint64_t)r.ll;
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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 (uint8_t)(msg->payload+sizeof(uint64_t))[0];
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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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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}
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