pinxian wu / mavlink_bridge

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Dependents:   mavlink F429ZI_LCD_demo

Fork of mavlink_bridge by Benjamin Hepp

mavlink/v10/common/mavlink_msg_hil_gps.h@11:76345550efb4, 2018-07-23 (annotated)

Committer:
wupinxian
Date:
Mon Jul 23 16:34:26 2018 +0000
Revision:
11:76345550efb4
Parent:
0:28183cc7963f 
mavlink for stm32 Nucleo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bhepp 0:28183cc7963f 1 // MESSAGE HIL_GPS PACKING
bhepp 0:28183cc7963f 2
bhepp 0:28183cc7963f 3 #define MAVLINK_MSG_ID_HIL_GPS 113
bhepp 0:28183cc7963f 4
bhepp 0:28183cc7963f 5 typedef struct __mavlink_hil_gps_t
bhepp 0:28183cc7963f 6 {
bhepp 0:28183cc7963f 7 uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
bhepp 0:28183cc7963f 8 int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
bhepp 0:28183cc7963f 9 int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
bhepp 0:28183cc7963f 10 int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/
bhepp 0:28183cc7963f 11 uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535*/
bhepp 0:28183cc7963f 12 uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535*/
bhepp 0:28183cc7963f 13 uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: 65535*/
bhepp 0:28183cc7963f 14 int16_t vn; /*< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame*/
bhepp 0:28183cc7963f 15 int16_t ve; /*< GPS velocity in cm/s in EAST direction in earth-fixed NED frame*/
bhepp 0:28183cc7963f 16 int16_t vd; /*< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame*/
bhepp 0:28183cc7963f 17 uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535*/
bhepp 0:28183cc7963f 18 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.*/
bhepp 0:28183cc7963f 19 uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
bhepp 0:28183cc7963f 20 } mavlink_hil_gps_t;
bhepp 0:28183cc7963f 21
bhepp 0:28183cc7963f 22 #define MAVLINK_MSG_ID_HIL_GPS_LEN 36
bhepp 0:28183cc7963f 23 #define MAVLINK_MSG_ID_113_LEN 36
bhepp 0:28183cc7963f 24
bhepp 0:28183cc7963f 25 #define MAVLINK_MSG_ID_HIL_GPS_CRC 124
bhepp 0:28183cc7963f 26 #define MAVLINK_MSG_ID_113_CRC 124
bhepp 0:28183cc7963f 27
bhepp 0:28183cc7963f 28
bhepp 0:28183cc7963f 29
bhepp 0:28183cc7963f 30 #define MAVLINK_MESSAGE_INFO_HIL_GPS { \
bhepp 0:28183cc7963f 31 "HIL_GPS", \
bhepp 0:28183cc7963f 32 13, \
bhepp 0:28183cc7963f 33 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
bhepp 0:28183cc7963f 34 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
bhepp 0:28183cc7963f 35 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
bhepp 0:28183cc7963f 36 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
bhepp 0:28183cc7963f 37 { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
bhepp 0:28183cc7963f 38 { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
bhepp 0:28183cc7963f 39 { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
bhepp 0:28183cc7963f 40 { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
bhepp 0:28183cc7963f 41 { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
bhepp 0:28183cc7963f 42 { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
bhepp 0:28183cc7963f 43 { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
bhepp 0:28183cc7963f 44 { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
bhepp 0:28183cc7963f 45 { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
bhepp 0:28183cc7963f 46 } \
bhepp 0:28183cc7963f 47 }
bhepp 0:28183cc7963f 48
bhepp 0:28183cc7963f 49
bhepp 0:28183cc7963f 50 /**
bhepp 0:28183cc7963f 51 * @brief Pack a hil_gps message
bhepp 0:28183cc7963f 52 * @param system_id ID of this system
bhepp 0:28183cc7963f 53 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 54 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 55 *
bhepp 0:28183cc7963f 56 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
bhepp 0:28183cc7963f 57 * @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.
bhepp 0:28183cc7963f 58 * @param lat Latitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 59 * @param lon Longitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 60 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
bhepp 0:28183cc7963f 61 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 62 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 63 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
bhepp 0:28183cc7963f 64 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
bhepp 0:28183cc7963f 65 * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
bhepp 0:28183cc7963f 66 * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
bhepp 0:28183cc7963f 67 * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
bhepp 0:28183cc7963f 68 * @param satellites_visible Number of satellites visible. If unknown, set to 255
bhepp 0:28183cc7963f 69 * @return length of the message in bytes (excluding serial stream start sign)
bhepp 0:28183cc7963f 70 */
bhepp 0:28183cc7963f 71 static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
bhepp 0:28183cc7963f 72 uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
bhepp 0:28183cc7963f 73 {
bhepp 0:28183cc7963f 74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 75 char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
bhepp 0:28183cc7963f 76 _mav_put_uint64_t(buf, 0, time_usec);
bhepp 0:28183cc7963f 77 _mav_put_int32_t(buf, 8, lat);
bhepp 0:28183cc7963f 78 _mav_put_int32_t(buf, 12, lon);
bhepp 0:28183cc7963f 79 _mav_put_int32_t(buf, 16, alt);
bhepp 0:28183cc7963f 80 _mav_put_uint16_t(buf, 20, eph);
bhepp 0:28183cc7963f 81 _mav_put_uint16_t(buf, 22, epv);
bhepp 0:28183cc7963f 82 _mav_put_uint16_t(buf, 24, vel);
bhepp 0:28183cc7963f 83 _mav_put_int16_t(buf, 26, vn);
bhepp 0:28183cc7963f 84 _mav_put_int16_t(buf, 28, ve);
bhepp 0:28183cc7963f 85 _mav_put_int16_t(buf, 30, vd);
bhepp 0:28183cc7963f 86 _mav_put_uint16_t(buf, 32, cog);
bhepp 0:28183cc7963f 87 _mav_put_uint8_t(buf, 34, fix_type);
bhepp 0:28183cc7963f 88 _mav_put_uint8_t(buf, 35, satellites_visible);
bhepp 0:28183cc7963f 89
bhepp 0:28183cc7963f 90 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 91 #else
bhepp 0:28183cc7963f 92 mavlink_hil_gps_t packet;
bhepp 0:28183cc7963f 93 packet.time_usec = time_usec;
bhepp 0:28183cc7963f 94 packet.lat = lat;
bhepp 0:28183cc7963f 95 packet.lon = lon;
bhepp 0:28183cc7963f 96 packet.alt = alt;
bhepp 0:28183cc7963f 97 packet.eph = eph;
bhepp 0:28183cc7963f 98 packet.epv = epv;
bhepp 0:28183cc7963f 99 packet.vel = vel;
bhepp 0:28183cc7963f 100 packet.vn = vn;
bhepp 0:28183cc7963f 101 packet.ve = ve;
bhepp 0:28183cc7963f 102 packet.vd = vd;
bhepp 0:28183cc7963f 103 packet.cog = cog;
bhepp 0:28183cc7963f 104 packet.fix_type = fix_type;
bhepp 0:28183cc7963f 105 packet.satellites_visible = satellites_visible;
bhepp 0:28183cc7963f 106
bhepp 0:28183cc7963f 107 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 108 #endif
bhepp 0:28183cc7963f 109
bhepp 0:28183cc7963f 110 msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
bhepp 0:28183cc7963f 111 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 112 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 113 #else
bhepp 0:28183cc7963f 114 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 115 #endif
bhepp 0:28183cc7963f 116 }
bhepp 0:28183cc7963f 117
bhepp 0:28183cc7963f 118 /**
bhepp 0:28183cc7963f 119 * @brief Pack a hil_gps message on a channel
bhepp 0:28183cc7963f 120 * @param system_id ID of this system
bhepp 0:28183cc7963f 121 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 122 * @param chan The MAVLink channel this message will be sent over
bhepp 0:28183cc7963f 123 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 124 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
bhepp 0:28183cc7963f 125 * @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.
bhepp 0:28183cc7963f 126 * @param lat Latitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 127 * @param lon Longitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 128 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
bhepp 0:28183cc7963f 129 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 130 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 131 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
bhepp 0:28183cc7963f 132 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
bhepp 0:28183cc7963f 133 * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
bhepp 0:28183cc7963f 134 * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
bhepp 0:28183cc7963f 135 * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
bhepp 0:28183cc7963f 136 * @param satellites_visible Number of satellites visible. If unknown, set to 255
bhepp 0:28183cc7963f 137 * @return length of the message in bytes (excluding serial stream start sign)
bhepp 0:28183cc7963f 138 */
bhepp 0:28183cc7963f 139 static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
bhepp 0:28183cc7963f 140 mavlink_message_t* msg,
bhepp 0:28183cc7963f 141 uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible)
bhepp 0:28183cc7963f 142 {
bhepp 0:28183cc7963f 143 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 144 char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
bhepp 0:28183cc7963f 145 _mav_put_uint64_t(buf, 0, time_usec);
bhepp 0:28183cc7963f 146 _mav_put_int32_t(buf, 8, lat);
bhepp 0:28183cc7963f 147 _mav_put_int32_t(buf, 12, lon);
bhepp 0:28183cc7963f 148 _mav_put_int32_t(buf, 16, alt);
bhepp 0:28183cc7963f 149 _mav_put_uint16_t(buf, 20, eph);
bhepp 0:28183cc7963f 150 _mav_put_uint16_t(buf, 22, epv);
bhepp 0:28183cc7963f 151 _mav_put_uint16_t(buf, 24, vel);
bhepp 0:28183cc7963f 152 _mav_put_int16_t(buf, 26, vn);
bhepp 0:28183cc7963f 153 _mav_put_int16_t(buf, 28, ve);
bhepp 0:28183cc7963f 154 _mav_put_int16_t(buf, 30, vd);
bhepp 0:28183cc7963f 155 _mav_put_uint16_t(buf, 32, cog);
bhepp 0:28183cc7963f 156 _mav_put_uint8_t(buf, 34, fix_type);
bhepp 0:28183cc7963f 157 _mav_put_uint8_t(buf, 35, satellites_visible);
bhepp 0:28183cc7963f 158
bhepp 0:28183cc7963f 159 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 160 #else
bhepp 0:28183cc7963f 161 mavlink_hil_gps_t packet;
bhepp 0:28183cc7963f 162 packet.time_usec = time_usec;
bhepp 0:28183cc7963f 163 packet.lat = lat;
bhepp 0:28183cc7963f 164 packet.lon = lon;
bhepp 0:28183cc7963f 165 packet.alt = alt;
bhepp 0:28183cc7963f 166 packet.eph = eph;
bhepp 0:28183cc7963f 167 packet.epv = epv;
bhepp 0:28183cc7963f 168 packet.vel = vel;
bhepp 0:28183cc7963f 169 packet.vn = vn;
bhepp 0:28183cc7963f 170 packet.ve = ve;
bhepp 0:28183cc7963f 171 packet.vd = vd;
bhepp 0:28183cc7963f 172 packet.cog = cog;
bhepp 0:28183cc7963f 173 packet.fix_type = fix_type;
bhepp 0:28183cc7963f 174 packet.satellites_visible = satellites_visible;
bhepp 0:28183cc7963f 175
bhepp 0:28183cc7963f 176 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 177 #endif
bhepp 0:28183cc7963f 178
bhepp 0:28183cc7963f 179 msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
bhepp 0:28183cc7963f 180 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 181 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 182 #else
bhepp 0:28183cc7963f 183 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 184 #endif
bhepp 0:28183cc7963f 185 }
bhepp 0:28183cc7963f 186
bhepp 0:28183cc7963f 187 /**
bhepp 0:28183cc7963f 188 * @brief Encode a hil_gps struct
bhepp 0:28183cc7963f 189 *
bhepp 0:28183cc7963f 190 * @param system_id ID of this system
bhepp 0:28183cc7963f 191 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 192 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 193 * @param hil_gps C-struct to read the message contents from
bhepp 0:28183cc7963f 194 */
bhepp 0:28183cc7963f 195 static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
bhepp 0:28183cc7963f 196 {
bhepp 0:28183cc7963f 197 return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
bhepp 0:28183cc7963f 198 }
bhepp 0:28183cc7963f 199
bhepp 0:28183cc7963f 200 /**
bhepp 0:28183cc7963f 201 * @brief Encode a hil_gps struct on a channel
bhepp 0:28183cc7963f 202 *
bhepp 0:28183cc7963f 203 * @param system_id ID of this system
bhepp 0:28183cc7963f 204 * @param component_id ID of this component (e.g. 200 for IMU)
bhepp 0:28183cc7963f 205 * @param chan The MAVLink channel this message will be sent over
bhepp 0:28183cc7963f 206 * @param msg The MAVLink message to compress the data into
bhepp 0:28183cc7963f 207 * @param hil_gps C-struct to read the message contents from
bhepp 0:28183cc7963f 208 */
bhepp 0:28183cc7963f 209 static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
bhepp 0:28183cc7963f 210 {
bhepp 0:28183cc7963f 211 return mavlink_msg_hil_gps_pack_chan(system_id, component_id, chan, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
bhepp 0:28183cc7963f 212 }
bhepp 0:28183cc7963f 213
bhepp 0:28183cc7963f 214 /**
bhepp 0:28183cc7963f 215 * @brief Send a hil_gps message
bhepp 0:28183cc7963f 216 * @param chan MAVLink channel to send the message
bhepp 0:28183cc7963f 217 *
bhepp 0:28183cc7963f 218 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
bhepp 0:28183cc7963f 219 * @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.
bhepp 0:28183cc7963f 220 * @param lat Latitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 221 * @param lon Longitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 222 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
bhepp 0:28183cc7963f 223 * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 224 * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 225 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
bhepp 0:28183cc7963f 226 * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
bhepp 0:28183cc7963f 227 * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
bhepp 0:28183cc7963f 228 * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
bhepp 0:28183cc7963f 229 * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
bhepp 0:28183cc7963f 230 * @param satellites_visible Number of satellites visible. If unknown, set to 255
bhepp 0:28183cc7963f 231 */
bhepp 0:28183cc7963f 232 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
bhepp 0:28183cc7963f 233
bhepp 0:28183cc7963f 234 static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
bhepp 0:28183cc7963f 235 {
bhepp 0:28183cc7963f 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 237 char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
bhepp 0:28183cc7963f 238 _mav_put_uint64_t(buf, 0, time_usec);
bhepp 0:28183cc7963f 239 _mav_put_int32_t(buf, 8, lat);
bhepp 0:28183cc7963f 240 _mav_put_int32_t(buf, 12, lon);
bhepp 0:28183cc7963f 241 _mav_put_int32_t(buf, 16, alt);
bhepp 0:28183cc7963f 242 _mav_put_uint16_t(buf, 20, eph);
bhepp 0:28183cc7963f 243 _mav_put_uint16_t(buf, 22, epv);
bhepp 0:28183cc7963f 244 _mav_put_uint16_t(buf, 24, vel);
bhepp 0:28183cc7963f 245 _mav_put_int16_t(buf, 26, vn);
bhepp 0:28183cc7963f 246 _mav_put_int16_t(buf, 28, ve);
bhepp 0:28183cc7963f 247 _mav_put_int16_t(buf, 30, vd);
bhepp 0:28183cc7963f 248 _mav_put_uint16_t(buf, 32, cog);
bhepp 0:28183cc7963f 249 _mav_put_uint8_t(buf, 34, fix_type);
bhepp 0:28183cc7963f 250 _mav_put_uint8_t(buf, 35, satellites_visible);
bhepp 0:28183cc7963f 251
bhepp 0:28183cc7963f 252 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 253 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 254 #else
bhepp 0:28183cc7963f 255 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 256 #endif
bhepp 0:28183cc7963f 257 #else
bhepp 0:28183cc7963f 258 mavlink_hil_gps_t packet;
bhepp 0:28183cc7963f 259 packet.time_usec = time_usec;
bhepp 0:28183cc7963f 260 packet.lat = lat;
bhepp 0:28183cc7963f 261 packet.lon = lon;
bhepp 0:28183cc7963f 262 packet.alt = alt;
bhepp 0:28183cc7963f 263 packet.eph = eph;
bhepp 0:28183cc7963f 264 packet.epv = epv;
bhepp 0:28183cc7963f 265 packet.vel = vel;
bhepp 0:28183cc7963f 266 packet.vn = vn;
bhepp 0:28183cc7963f 267 packet.ve = ve;
bhepp 0:28183cc7963f 268 packet.vd = vd;
bhepp 0:28183cc7963f 269 packet.cog = cog;
bhepp 0:28183cc7963f 270 packet.fix_type = fix_type;
bhepp 0:28183cc7963f 271 packet.satellites_visible = satellites_visible;
bhepp 0:28183cc7963f 272
bhepp 0:28183cc7963f 273 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 274 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 275 #else
bhepp 0:28183cc7963f 276 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 277 #endif
bhepp 0:28183cc7963f 278 #endif
bhepp 0:28183cc7963f 279 }
bhepp 0:28183cc7963f 280
bhepp 0:28183cc7963f 281 #if MAVLINK_MSG_ID_HIL_GPS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
bhepp 0:28183cc7963f 282 /*
bhepp 0:28183cc7963f 283 This varient of _send() can be used to save stack space by re-using
bhepp 0:28183cc7963f 284 memory from the receive buffer. The caller provides a
bhepp 0:28183cc7963f 285 mavlink_message_t which is the size of a full mavlink message. This
bhepp 0:28183cc7963f 286 is usually the receive buffer for the channel, and allows a reply to an
bhepp 0:28183cc7963f 287 incoming message with minimum stack space usage.
bhepp 0:28183cc7963f 288 */
bhepp 0:28183cc7963f 289 static inline void mavlink_msg_hil_gps_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
bhepp 0:28183cc7963f 290 {
bhepp 0:28183cc7963f 291 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
bhepp 0:28183cc7963f 292 char *buf = (char *)msgbuf;
bhepp 0:28183cc7963f 293 _mav_put_uint64_t(buf, 0, time_usec);
bhepp 0:28183cc7963f 294 _mav_put_int32_t(buf, 8, lat);
bhepp 0:28183cc7963f 295 _mav_put_int32_t(buf, 12, lon);
bhepp 0:28183cc7963f 296 _mav_put_int32_t(buf, 16, alt);
bhepp 0:28183cc7963f 297 _mav_put_uint16_t(buf, 20, eph);
bhepp 0:28183cc7963f 298 _mav_put_uint16_t(buf, 22, epv);
bhepp 0:28183cc7963f 299 _mav_put_uint16_t(buf, 24, vel);
bhepp 0:28183cc7963f 300 _mav_put_int16_t(buf, 26, vn);
bhepp 0:28183cc7963f 301 _mav_put_int16_t(buf, 28, ve);
bhepp 0:28183cc7963f 302 _mav_put_int16_t(buf, 30, vd);
bhepp 0:28183cc7963f 303 _mav_put_uint16_t(buf, 32, cog);
bhepp 0:28183cc7963f 304 _mav_put_uint8_t(buf, 34, fix_type);
bhepp 0:28183cc7963f 305 _mav_put_uint8_t(buf, 35, satellites_visible);
bhepp 0:28183cc7963f 306
bhepp 0:28183cc7963f 307 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 308 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 309 #else
bhepp 0:28183cc7963f 310 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 311 #endif
bhepp 0:28183cc7963f 312 #else
bhepp 0:28183cc7963f 313 mavlink_hil_gps_t *packet = (mavlink_hil_gps_t *)msgbuf;
bhepp 0:28183cc7963f 314 packet->time_usec = time_usec;
bhepp 0:28183cc7963f 315 packet->lat = lat;
bhepp 0:28183cc7963f 316 packet->lon = lon;
bhepp 0:28183cc7963f 317 packet->alt = alt;
bhepp 0:28183cc7963f 318 packet->eph = eph;
bhepp 0:28183cc7963f 319 packet->epv = epv;
bhepp 0:28183cc7963f 320 packet->vel = vel;
bhepp 0:28183cc7963f 321 packet->vn = vn;
bhepp 0:28183cc7963f 322 packet->ve = ve;
bhepp 0:28183cc7963f 323 packet->vd = vd;
bhepp 0:28183cc7963f 324 packet->cog = cog;
bhepp 0:28183cc7963f 325 packet->fix_type = fix_type;
bhepp 0:28183cc7963f 326 packet->satellites_visible = satellites_visible;
bhepp 0:28183cc7963f 327
bhepp 0:28183cc7963f 328 #if MAVLINK_CRC_EXTRA
bhepp 0:28183cc7963f 329 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
bhepp 0:28183cc7963f 330 #else
bhepp 0:28183cc7963f 331 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 332 #endif
bhepp 0:28183cc7963f 333 #endif
bhepp 0:28183cc7963f 334 }
bhepp 0:28183cc7963f 335 #endif
bhepp 0:28183cc7963f 336
bhepp 0:28183cc7963f 337 #endif
bhepp 0:28183cc7963f 338
bhepp 0:28183cc7963f 339 // MESSAGE HIL_GPS UNPACKING
bhepp 0:28183cc7963f 340
bhepp 0:28183cc7963f 341
bhepp 0:28183cc7963f 342 /**
bhepp 0:28183cc7963f 343 * @brief Get field time_usec from hil_gps message
bhepp 0:28183cc7963f 344 *
bhepp 0:28183cc7963f 345 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
bhepp 0:28183cc7963f 346 */
bhepp 0:28183cc7963f 347 static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 348 {
bhepp 0:28183cc7963f 349 return _MAV_RETURN_uint64_t(msg, 0);
bhepp 0:28183cc7963f 350 }
bhepp 0:28183cc7963f 351
bhepp 0:28183cc7963f 352 /**
bhepp 0:28183cc7963f 353 * @brief Get field fix_type from hil_gps message
bhepp 0:28183cc7963f 354 *
bhepp 0:28183cc7963f 355 * @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.
bhepp 0:28183cc7963f 356 */
bhepp 0:28183cc7963f 357 static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 358 {
bhepp 0:28183cc7963f 359 return _MAV_RETURN_uint8_t(msg, 34);
bhepp 0:28183cc7963f 360 }
bhepp 0:28183cc7963f 361
bhepp 0:28183cc7963f 362 /**
bhepp 0:28183cc7963f 363 * @brief Get field lat from hil_gps message
bhepp 0:28183cc7963f 364 *
bhepp 0:28183cc7963f 365 * @return Latitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 366 */
bhepp 0:28183cc7963f 367 static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 368 {
bhepp 0:28183cc7963f 369 return _MAV_RETURN_int32_t(msg, 8);
bhepp 0:28183cc7963f 370 }
bhepp 0:28183cc7963f 371
bhepp 0:28183cc7963f 372 /**
bhepp 0:28183cc7963f 373 * @brief Get field lon from hil_gps message
bhepp 0:28183cc7963f 374 *
bhepp 0:28183cc7963f 375 * @return Longitude (WGS84), in degrees * 1E7
bhepp 0:28183cc7963f 376 */
bhepp 0:28183cc7963f 377 static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 378 {
bhepp 0:28183cc7963f 379 return _MAV_RETURN_int32_t(msg, 12);
bhepp 0:28183cc7963f 380 }
bhepp 0:28183cc7963f 381
bhepp 0:28183cc7963f 382 /**
bhepp 0:28183cc7963f 383 * @brief Get field alt from hil_gps message
bhepp 0:28183cc7963f 384 *
bhepp 0:28183cc7963f 385 * @return Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
bhepp 0:28183cc7963f 386 */
bhepp 0:28183cc7963f 387 static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 388 {
bhepp 0:28183cc7963f 389 return _MAV_RETURN_int32_t(msg, 16);
bhepp 0:28183cc7963f 390 }
bhepp 0:28183cc7963f 391
bhepp 0:28183cc7963f 392 /**
bhepp 0:28183cc7963f 393 * @brief Get field eph from hil_gps message
bhepp 0:28183cc7963f 394 *
bhepp 0:28183cc7963f 395 * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 396 */
bhepp 0:28183cc7963f 397 static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 398 {
bhepp 0:28183cc7963f 399 return _MAV_RETURN_uint16_t(msg, 20);
bhepp 0:28183cc7963f 400 }
bhepp 0:28183cc7963f 401
bhepp 0:28183cc7963f 402 /**
bhepp 0:28183cc7963f 403 * @brief Get field epv from hil_gps message
bhepp 0:28183cc7963f 404 *
bhepp 0:28183cc7963f 405 * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
bhepp 0:28183cc7963f 406 */
bhepp 0:28183cc7963f 407 static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 408 {
bhepp 0:28183cc7963f 409 return _MAV_RETURN_uint16_t(msg, 22);
bhepp 0:28183cc7963f 410 }
bhepp 0:28183cc7963f 411
bhepp 0:28183cc7963f 412 /**
bhepp 0:28183cc7963f 413 * @brief Get field vel from hil_gps message
bhepp 0:28183cc7963f 414 *
bhepp 0:28183cc7963f 415 * @return GPS ground speed (m/s * 100). If unknown, set to: 65535
bhepp 0:28183cc7963f 416 */
bhepp 0:28183cc7963f 417 static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 418 {
bhepp 0:28183cc7963f 419 return _MAV_RETURN_uint16_t(msg, 24);
bhepp 0:28183cc7963f 420 }
bhepp 0:28183cc7963f 421
bhepp 0:28183cc7963f 422 /**
bhepp 0:28183cc7963f 423 * @brief Get field vn from hil_gps message
bhepp 0:28183cc7963f 424 *
bhepp 0:28183cc7963f 425 * @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
bhepp 0:28183cc7963f 426 */
bhepp 0:28183cc7963f 427 static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 428 {
bhepp 0:28183cc7963f 429 return _MAV_RETURN_int16_t(msg, 26);
bhepp 0:28183cc7963f 430 }
bhepp 0:28183cc7963f 431
bhepp 0:28183cc7963f 432 /**
bhepp 0:28183cc7963f 433 * @brief Get field ve from hil_gps message
bhepp 0:28183cc7963f 434 *
bhepp 0:28183cc7963f 435 * @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame
bhepp 0:28183cc7963f 436 */
bhepp 0:28183cc7963f 437 static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 438 {
bhepp 0:28183cc7963f 439 return _MAV_RETURN_int16_t(msg, 28);
bhepp 0:28183cc7963f 440 }
bhepp 0:28183cc7963f 441
bhepp 0:28183cc7963f 442 /**
bhepp 0:28183cc7963f 443 * @brief Get field vd from hil_gps message
bhepp 0:28183cc7963f 444 *
bhepp 0:28183cc7963f 445 * @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
bhepp 0:28183cc7963f 446 */
bhepp 0:28183cc7963f 447 static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 448 {
bhepp 0:28183cc7963f 449 return _MAV_RETURN_int16_t(msg, 30);
bhepp 0:28183cc7963f 450 }
bhepp 0:28183cc7963f 451
bhepp 0:28183cc7963f 452 /**
bhepp 0:28183cc7963f 453 * @brief Get field cog from hil_gps message
bhepp 0:28183cc7963f 454 *
bhepp 0:28183cc7963f 455 * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
bhepp 0:28183cc7963f 456 */
bhepp 0:28183cc7963f 457 static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 458 {
bhepp 0:28183cc7963f 459 return _MAV_RETURN_uint16_t(msg, 32);
bhepp 0:28183cc7963f 460 }
bhepp 0:28183cc7963f 461
bhepp 0:28183cc7963f 462 /**
bhepp 0:28183cc7963f 463 * @brief Get field satellites_visible from hil_gps message
bhepp 0:28183cc7963f 464 *
bhepp 0:28183cc7963f 465 * @return Number of satellites visible. If unknown, set to 255
bhepp 0:28183cc7963f 466 */
bhepp 0:28183cc7963f 467 static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg)
bhepp 0:28183cc7963f 468 {
bhepp 0:28183cc7963f 469 return _MAV_RETURN_uint8_t(msg, 35);
bhepp 0:28183cc7963f 470 }
bhepp 0:28183cc7963f 471
bhepp 0:28183cc7963f 472 /**
bhepp 0:28183cc7963f 473 * @brief Decode a hil_gps message into a struct
bhepp 0:28183cc7963f 474 *
bhepp 0:28183cc7963f 475 * @param msg The message to decode
bhepp 0:28183cc7963f 476 * @param hil_gps C-struct to decode the message contents into
bhepp 0:28183cc7963f 477 */
bhepp 0:28183cc7963f 478 static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps)
bhepp 0:28183cc7963f 479 {
bhepp 0:28183cc7963f 480 #if MAVLINK_NEED_BYTE_SWAP
bhepp 0:28183cc7963f 481 hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg);
bhepp 0:28183cc7963f 482 hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg);
bhepp 0:28183cc7963f 483 hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg);
bhepp 0:28183cc7963f 484 hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg);
bhepp 0:28183cc7963f 485 hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg);
bhepp 0:28183cc7963f 486 hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg);
bhepp 0:28183cc7963f 487 hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg);
bhepp 0:28183cc7963f 488 hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg);
bhepp 0:28183cc7963f 489 hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg);
bhepp 0:28183cc7963f 490 hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg);
bhepp 0:28183cc7963f 491 hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg);
bhepp 0:28183cc7963f 492 hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg);
bhepp 0:28183cc7963f 493 hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg);
bhepp 0:28183cc7963f 494 #else
bhepp 0:28183cc7963f 495 memcpy(hil_gps, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_GPS_LEN);
bhepp 0:28183cc7963f 496 #endif
bhepp 0:28183cc7963f 497 }