dbdabd8707
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
243 lines
9.9 KiB
C
243 lines
9.9 KiB
C
// MESSAGE GLOBAL_POSITION PACKING
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#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
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typedef struct __mavlink_global_position_t
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{
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uint64_t usec; ///< Timestamp (microseconds since unix epoch)
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float lat; ///< Latitude, in degrees
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float lon; ///< Longitude, in degrees
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float alt; ///< Absolute altitude, in meters
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float vx; ///< X Speed (in Latitude direction, positive: going north)
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float vy; ///< Y Speed (in Longitude direction, positive: going east)
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float vz; ///< Z Speed (in Altitude direction, positive: going up)
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} mavlink_global_position_t;
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/**
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* @brief Pack a global_position 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)
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* @param lat Latitude, in degrees
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* @param lon Longitude, in degrees
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* @param alt Absolute altitude, in meters
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* @param vx X Speed (in Latitude direction, positive: going north)
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* @param vy Y Speed (in Longitude direction, positive: going east)
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* @param vz Z Speed (in Altitude direction, positive: going up)
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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_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
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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); // Absolute altitude, in meters
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i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
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i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
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i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
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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 global_position 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)
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* @param lat Latitude, in degrees
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* @param lon Longitude, in degrees
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* @param alt Absolute altitude, in meters
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* @param vx X Speed (in Latitude direction, positive: going north)
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* @param vy Y Speed (in Longitude direction, positive: going east)
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* @param vz Z Speed (in Altitude direction, positive: going up)
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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_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
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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); // Absolute altitude, in meters
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i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
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i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
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i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
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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 global_position 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 global_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
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{
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return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
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}
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/**
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* @brief Send a global_position 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)
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* @param lat Latitude, in degrees
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* @param lon Longitude, in degrees
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* @param alt Absolute altitude, in meters
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* @param vx X Speed (in Latitude direction, positive: going north)
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* @param vy Y Speed (in Longitude direction, positive: going east)
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* @param vz Z Speed (in Altitude direction, positive: going up)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
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{
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mavlink_message_t msg;
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mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE GLOBAL_POSITION UNPACKING
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/**
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* @brief Get field usec from global_position message
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*
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* @return Timestamp (microseconds since unix epoch)
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*/
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static inline uint64_t mavlink_msg_global_position_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 lat from global_position 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_global_position_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))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 global_position 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_global_position_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(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 global_position message
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*
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* @return Absolute altitude, in meters
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*/
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static inline float mavlink_msg_global_position_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(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 vx from global_position message
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*
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* @return X Speed (in Latitude direction, positive: going north)
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*/
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static inline float mavlink_msg_global_position_get_vx(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(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 vy from global_position message
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*
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* @return Y Speed (in Longitude direction, positive: going east)
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*/
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static inline float mavlink_msg_global_position_get_vy(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(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 vz from global_position message
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*
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* @return Z Speed (in Altitude direction, positive: going up)
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*/
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static inline float mavlink_msg_global_position_get_vz(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(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_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(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_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 Decode a global_position message into a struct
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*
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* @param msg The message to decode
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* @param global_position C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
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{
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global_position->usec = mavlink_msg_global_position_get_usec(msg);
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global_position->lat = mavlink_msg_global_position_get_lat(msg);
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global_position->lon = mavlink_msg_global_position_get_lon(msg);
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global_position->alt = mavlink_msg_global_position_get_alt(msg);
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global_position->vx = mavlink_msg_global_position_get_vx(msg);
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global_position->vy = mavlink_msg_global_position_get_vy(msg);
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global_position->vz = mavlink_msg_global_position_get_vz(msg);
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}
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