![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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_int.h
- Committer:
- shimniok
- Date:
- 2018-11-30
- Revision:
- 25:bb5356402687
- Parent:
- 0:a6a169de725f
File content as of revision 25:bb5356402687:
// 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); }