Diff: MAVlink/include/common/mavlink_msg_gps_raw_int.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_gps_raw_int.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,281 @@
+// MESSAGE GPS_RAW_INT PACKING
+
+#define MAVLINK_MSG_ID_GPS_RAW_INT 25
+
+typedef struct __mavlink_gps_raw_int_t 
+{
+    uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+    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.
+    int32_t lat; ///< Latitude in 1E7 degrees
+    int32_t lon; ///< Longitude in 1E7 degrees
+    int32_t alt; ///< Altitude in 1E3 meters (millimeters)
+    float eph; ///< GPS HDOP
+    float epv; ///< GPS VDOP
+    float v; ///< GPS ground speed (m/s)
+    float hdg; ///< Compass heading in degrees, 0..360 degrees
+
+} mavlink_gps_raw_int_t;
+
+
+
+/**
+ * @brief Pack a gps_raw_int message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters)
+ * @param eph GPS HDOP
+ * @param epv GPS VDOP
+ * @param v GPS ground speed (m/s)
+ * @param hdg Compass heading in degrees, 0..360 degrees
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
+
+    i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+    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.
+    i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees
+    i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees
+    i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters)
+    i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
+    i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
+    i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s)
+    i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a gps_raw_int message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters)
+ * @param eph GPS HDOP
+ * @param epv GPS VDOP
+ * @param v GPS ground speed (m/s)
+ * @param hdg Compass heading in degrees, 0..360 degrees
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
+
+    i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+    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.
+    i += put_int32_t_by_index(lat, i, msg->payload); // Latitude in 1E7 degrees
+    i += put_int32_t_by_index(lon, i, msg->payload); // Longitude in 1E7 degrees
+    i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in 1E3 meters (millimeters)
+    i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
+    i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
+    i += put_float_by_index(v, i, msg->payload); // GPS ground speed (m/s)
+    i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a gps_raw_int struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param gps_raw_int C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
+{
+    return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->v, gps_raw_int->hdg);
+}
+
+/**
+ * @brief Send a gps_raw_int message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @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.
+ * @param lat Latitude in 1E7 degrees
+ * @param lon Longitude in 1E7 degrees
+ * @param alt Altitude in 1E3 meters (millimeters)
+ * @param eph GPS HDOP
+ * @param epv GPS VDOP
+ * @param v GPS ground speed (m/s)
+ * @param hdg Compass heading in degrees, 0..360 degrees
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
+{
+    mavlink_message_t msg;
+    mavlink_msg_gps_raw_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE GPS_RAW_INT UNPACKING
+
+/**
+ * @brief Get field usec from gps_raw_int message
+ *
+ * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ */
+static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg)
+{
+    generic_64bit r;
+    r.b[7] = (msg->payload)[0];
+    r.b[6] = (msg->payload)[1];
+    r.b[5] = (msg->payload)[2];
+    r.b[4] = (msg->payload)[3];
+    r.b[3] = (msg->payload)[4];
+    r.b[2] = (msg->payload)[5];
+    r.b[1] = (msg->payload)[6];
+    r.b[0] = (msg->payload)[7];
+    return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field fix_type from gps_raw_int message
+ *
+ * @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.
+ */
+static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
+{
+    return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
+}
+
+/**
+ * @brief Get field lat from gps_raw_int message
+ *
+ * @return Latitude in 1E7 degrees
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
+    return (int32_t)r.i;
+}
+
+/**
+ * @brief Get field lon from gps_raw_int message
+ *
+ * @return Longitude in 1E7 degrees
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t))[3];
+    return (int32_t)r.i;
+}
+
+/**
+ * @brief Get field alt from gps_raw_int message
+ *
+ * @return Altitude in 1E3 meters (millimeters)
+ */
+static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t))[3];
+    return (int32_t)r.i;
+}
+
+/**
+ * @brief Get field eph from gps_raw_int message
+ *
+ * @return GPS HDOP
+ */
+static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field epv from gps_raw_int message
+ *
+ * @return GPS VDOP
+ */
+static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field v from gps_raw_int message
+ *
+ * @return GPS ground speed (m/s)
+ */
+static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field hdg from gps_raw_int message
+ *
+ * @return Compass heading in degrees, 0..360 degrees
+ */
+static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Decode a gps_raw_int message into a struct
+ *
+ * @param msg The message to decode
+ * @param gps_raw_int C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
+{
+    gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg);
+    gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
+    gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
+    gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
+    gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
+    gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
+    gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
+    gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg);
+    gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg);
+}