Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

MAVlink/include/common/mavlink_msg_gps_raw.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE GPS_RAW PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_GPS_RAW 32
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_gps_raw_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 8 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.
shimniok 0:a6a169de725f 9 float lat; ///< Latitude in degrees
shimniok 0:a6a169de725f 10 float lon; ///< Longitude in degrees
shimniok 0:a6a169de725f 11 float alt; ///< Altitude in meters
shimniok 0:a6a169de725f 12 float eph; ///< GPS HDOP
shimniok 0:a6a169de725f 13 float epv; ///< GPS VDOP
shimniok 0:a6a169de725f 14 float v; ///< GPS ground speed
shimniok 0:a6a169de725f 15 float hdg; ///< Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 } mavlink_gps_raw_t;
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20
shimniok 0:a6a169de725f 21 /**
shimniok 0:a6a169de725f 22 * @brief Pack a gps_raw message
shimniok 0:a6a169de725f 23 * @param system_id ID of this system
shimniok 0:a6a169de725f 24 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 25 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 26 *
shimniok 0:a6a169de725f 27 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 28 * @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.
shimniok 0:a6a169de725f 29 * @param lat Latitude in degrees
shimniok 0:a6a169de725f 30 * @param lon Longitude in degrees
shimniok 0:a6a169de725f 31 * @param alt Altitude in meters
shimniok 0:a6a169de725f 32 * @param eph GPS HDOP
shimniok 0:a6a169de725f 33 * @param epv GPS VDOP
shimniok 0:a6a169de725f 34 * @param v GPS ground speed
shimniok 0:a6a169de725f 35 * @param hdg Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 36 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 37 */
shimniok 0:a6a169de725f 38 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)
shimniok 0:a6a169de725f 39 {
shimniok 0:a6a169de725f 40 uint16_t i = 0;
shimniok 0:a6a169de725f 41 msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
shimniok 0:a6a169de725f 42
shimniok 0:a6a169de725f 43 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 44 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.
shimniok 0:a6a169de725f 45 i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
shimniok 0:a6a169de725f 46 i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
shimniok 0:a6a169de725f 47 i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
shimniok 0:a6a169de725f 48 i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
shimniok 0:a6a169de725f 49 i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
shimniok 0:a6a169de725f 50 i += put_float_by_index(v, i, msg->payload); // GPS ground speed
shimniok 0:a6a169de725f 51 i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 /**
shimniok 0:a6a169de725f 57 * @brief Pack a gps_raw message
shimniok 0:a6a169de725f 58 * @param system_id ID of this system
shimniok 0:a6a169de725f 59 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 60 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 61 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 62 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 63 * @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.
shimniok 0:a6a169de725f 64 * @param lat Latitude in degrees
shimniok 0:a6a169de725f 65 * @param lon Longitude in degrees
shimniok 0:a6a169de725f 66 * @param alt Altitude in meters
shimniok 0:a6a169de725f 67 * @param eph GPS HDOP
shimniok 0:a6a169de725f 68 * @param epv GPS VDOP
shimniok 0:a6a169de725f 69 * @param v GPS ground speed
shimniok 0:a6a169de725f 70 * @param hdg Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 71 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 72 */
shimniok 0:a6a169de725f 73 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)
shimniok 0:a6a169de725f 74 {
shimniok 0:a6a169de725f 75 uint16_t i = 0;
shimniok 0:a6a169de725f 76 msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 79 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.
shimniok 0:a6a169de725f 80 i += put_float_by_index(lat, i, msg->payload); // Latitude in degrees
shimniok 0:a6a169de725f 81 i += put_float_by_index(lon, i, msg->payload); // Longitude in degrees
shimniok 0:a6a169de725f 82 i += put_float_by_index(alt, i, msg->payload); // Altitude in meters
shimniok 0:a6a169de725f 83 i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
shimniok 0:a6a169de725f 84 i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
shimniok 0:a6a169de725f 85 i += put_float_by_index(v, i, msg->payload); // GPS ground speed
shimniok 0:a6a169de725f 86 i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 89 }
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 /**
shimniok 0:a6a169de725f 92 * @brief Encode a gps_raw struct into a message
shimniok 0:a6a169de725f 93 *
shimniok 0:a6a169de725f 94 * @param system_id ID of this system
shimniok 0:a6a169de725f 95 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 96 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 97 * @param gps_raw C-struct to read the message contents from
shimniok 0:a6a169de725f 98 */
shimniok 0:a6a169de725f 99 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)
shimniok 0:a6a169de725f 100 {
shimniok 0:a6a169de725f 101 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);
shimniok 0:a6a169de725f 102 }
shimniok 0:a6a169de725f 103
shimniok 0:a6a169de725f 104 /**
shimniok 0:a6a169de725f 105 * @brief Send a gps_raw message
shimniok 0:a6a169de725f 106 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 107 *
shimniok 0:a6a169de725f 108 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 109 * @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.
shimniok 0:a6a169de725f 110 * @param lat Latitude in degrees
shimniok 0:a6a169de725f 111 * @param lon Longitude in degrees
shimniok 0:a6a169de725f 112 * @param alt Altitude in meters
shimniok 0:a6a169de725f 113 * @param eph GPS HDOP
shimniok 0:a6a169de725f 114 * @param epv GPS VDOP
shimniok 0:a6a169de725f 115 * @param v GPS ground speed
shimniok 0:a6a169de725f 116 * @param hdg Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 117 */
shimniok 0:a6a169de725f 118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 119
shimniok 0:a6a169de725f 120 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)
shimniok 0:a6a169de725f 121 {
shimniok 0:a6a169de725f 122 mavlink_message_t msg;
shimniok 0:a6a169de725f 123 mavlink_msg_gps_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, alt, eph, epv, v, hdg);
shimniok 0:a6a169de725f 124 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 #endif
shimniok 0:a6a169de725f 128 // MESSAGE GPS_RAW UNPACKING
shimniok 0:a6a169de725f 129
shimniok 0:a6a169de725f 130 /**
shimniok 0:a6a169de725f 131 * @brief Get field usec from gps_raw message
shimniok 0:a6a169de725f 132 *
shimniok 0:a6a169de725f 133 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 134 */
shimniok 0:a6a169de725f 135 static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 136 {
shimniok 0:a6a169de725f 137 generic_64bit r;
shimniok 0:a6a169de725f 138 r.b[7] = (msg->payload)[0];
shimniok 0:a6a169de725f 139 r.b[6] = (msg->payload)[1];
shimniok 0:a6a169de725f 140 r.b[5] = (msg->payload)[2];
shimniok 0:a6a169de725f 141 r.b[4] = (msg->payload)[3];
shimniok 0:a6a169de725f 142 r.b[3] = (msg->payload)[4];
shimniok 0:a6a169de725f 143 r.b[2] = (msg->payload)[5];
shimniok 0:a6a169de725f 144 r.b[1] = (msg->payload)[6];
shimniok 0:a6a169de725f 145 r.b[0] = (msg->payload)[7];
shimniok 0:a6a169de725f 146 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 147 }
shimniok 0:a6a169de725f 148
shimniok 0:a6a169de725f 149 /**
shimniok 0:a6a169de725f 150 * @brief Get field fix_type from gps_raw message
shimniok 0:a6a169de725f 151 *
shimniok 0:a6a169de725f 152 * @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.
shimniok 0:a6a169de725f 153 */
shimniok 0:a6a169de725f 154 static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 155 {
shimniok 0:a6a169de725f 156 return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
shimniok 0:a6a169de725f 157 }
shimniok 0:a6a169de725f 158
shimniok 0:a6a169de725f 159 /**
shimniok 0:a6a169de725f 160 * @brief Get field lat from gps_raw message
shimniok 0:a6a169de725f 161 *
shimniok 0:a6a169de725f 162 * @return Latitude in degrees
shimniok 0:a6a169de725f 163 */
shimniok 0:a6a169de725f 164 static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 165 {
shimniok 0:a6a169de725f 166 generic_32bit r;
shimniok 0:a6a169de725f 167 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 168 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 169 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 170 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 171 return (float)r.f;
shimniok 0:a6a169de725f 172 }
shimniok 0:a6a169de725f 173
shimniok 0:a6a169de725f 174 /**
shimniok 0:a6a169de725f 175 * @brief Get field lon from gps_raw message
shimniok 0:a6a169de725f 176 *
shimniok 0:a6a169de725f 177 * @return Longitude in degrees
shimniok 0:a6a169de725f 178 */
shimniok 0:a6a169de725f 179 static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 180 {
shimniok 0:a6a169de725f 181 generic_32bit r;
shimniok 0:a6a169de725f 182 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 183 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 184 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 185 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 186 return (float)r.f;
shimniok 0:a6a169de725f 187 }
shimniok 0:a6a169de725f 188
shimniok 0:a6a169de725f 189 /**
shimniok 0:a6a169de725f 190 * @brief Get field alt from gps_raw message
shimniok 0:a6a169de725f 191 *
shimniok 0:a6a169de725f 192 * @return Altitude in meters
shimniok 0:a6a169de725f 193 */
shimniok 0:a6a169de725f 194 static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 195 {
shimniok 0:a6a169de725f 196 generic_32bit r;
shimniok 0:a6a169de725f 197 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 198 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 199 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 200 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 201 return (float)r.f;
shimniok 0:a6a169de725f 202 }
shimniok 0:a6a169de725f 203
shimniok 0:a6a169de725f 204 /**
shimniok 0:a6a169de725f 205 * @brief Get field eph from gps_raw message
shimniok 0:a6a169de725f 206 *
shimniok 0:a6a169de725f 207 * @return GPS HDOP
shimniok 0:a6a169de725f 208 */
shimniok 0:a6a169de725f 209 static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 210 {
shimniok 0:a6a169de725f 211 generic_32bit r;
shimniok 0:a6a169de725f 212 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 213 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 214 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 215 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 216 return (float)r.f;
shimniok 0:a6a169de725f 217 }
shimniok 0:a6a169de725f 218
shimniok 0:a6a169de725f 219 /**
shimniok 0:a6a169de725f 220 * @brief Get field epv from gps_raw message
shimniok 0:a6a169de725f 221 *
shimniok 0:a6a169de725f 222 * @return GPS VDOP
shimniok 0:a6a169de725f 223 */
shimniok 0:a6a169de725f 224 static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 225 {
shimniok 0:a6a169de725f 226 generic_32bit r;
shimniok 0:a6a169de725f 227 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 228 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 229 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 230 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 231 return (float)r.f;
shimniok 0:a6a169de725f 232 }
shimniok 0:a6a169de725f 233
shimniok 0:a6a169de725f 234 /**
shimniok 0:a6a169de725f 235 * @brief Get field v from gps_raw message
shimniok 0:a6a169de725f 236 *
shimniok 0:a6a169de725f 237 * @return GPS ground speed
shimniok 0:a6a169de725f 238 */
shimniok 0:a6a169de725f 239 static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 240 {
shimniok 0:a6a169de725f 241 generic_32bit r;
shimniok 0:a6a169de725f 242 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 243 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 244 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 245 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 246 return (float)r.f;
shimniok 0:a6a169de725f 247 }
shimniok 0:a6a169de725f 248
shimniok 0:a6a169de725f 249 /**
shimniok 0:a6a169de725f 250 * @brief Get field hdg from gps_raw message
shimniok 0:a6a169de725f 251 *
shimniok 0:a6a169de725f 252 * @return Compass heading in degrees, 0..360 degrees
shimniok 0:a6a169de725f 253 */
shimniok 0:a6a169de725f 254 static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 255 {
shimniok 0:a6a169de725f 256 generic_32bit r;
shimniok 0:a6a169de725f 257 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 258 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 259 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 260 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 261 return (float)r.f;
shimniok 0:a6a169de725f 262 }
shimniok 0:a6a169de725f 263
shimniok 0:a6a169de725f 264 /**
shimniok 0:a6a169de725f 265 * @brief Decode a gps_raw message into a struct
shimniok 0:a6a169de725f 266 *
shimniok 0:a6a169de725f 267 * @param msg The message to decode
shimniok 0:a6a169de725f 268 * @param gps_raw C-struct to decode the message contents into
shimniok 0:a6a169de725f 269 */
shimniok 0:a6a169de725f 270 static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
shimniok 0:a6a169de725f 271 {
shimniok 0:a6a169de725f 272 gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
shimniok 0:a6a169de725f 273 gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
shimniok 0:a6a169de725f 274 gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
shimniok 0:a6a169de725f 275 gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg);
shimniok 0:a6a169de725f 276 gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg);
shimniok 0:a6a169de725f 277 gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg);
shimniok 0:a6a169de725f 278 gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
shimniok 0:a6a169de725f 279 gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
shimniok 0:a6a169de725f 280 gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
shimniok 0:a6a169de725f 281 }