754ab0290b
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3238 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", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
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{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \
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{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \
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{ "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \
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{ "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \
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{ "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \
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{ "hdg", NULL, 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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