PullupDev/lib/mavlink/common/mavlink_msg_global_position_int.h

// MESSAGE GLOBAL_POSITION_INT PACKING

#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33

typedef struct __mavlink_global_position_int_t
{
	uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
	int32_t lat;		   ///< Latitude, expressed as * 1E7
	int32_t lon;		   ///< Longitude, expressed as * 1E7
	int32_t alt;		   ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
	int32_t relative_alt;  ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
	int16_t vx;			   ///< Ground X Speed (Latitude), expressed as m/s * 100
	int16_t vy;			   ///< Ground Y Speed (Longitude), expressed as m/s * 100
	int16_t vz;			   ///< Ground Z Speed (Altitude), expressed as m/s * 100
	uint16_t hdg;		   ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
} mavlink_global_position_int_t;

#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
#define MAVLINK_MSG_ID_33_LEN 28

#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT                                                                            \
	{                                                                                                                       \
		"GLOBAL_POSITION_INT",                                                                                              \
			9,                                                                                                              \
		{                                                                                                                   \
			{"time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms)},     \
				{"lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat)},                    \
				{"lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon)},                    \
				{"alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt)},                   \
				{"relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt)}, \
				{"vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx)},                     \
				{"vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy)},                     \
				{"vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz)},                     \
				{"hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg)},                  \
		}                                                                                                                   \
	}

/**
 * @brief Pack a global_position_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 time_boot_ms Timestamp (milliseconds since system boot)
 * @param lat Latitude, expressed as * 1E7
 * @param lon Longitude, expressed as * 1E7
 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
															uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[28];
	_mav_put_uint32_t(buf, 0, time_boot_ms);
	_mav_put_int32_t(buf, 4, lat);
	_mav_put_int32_t(buf, 8, lon);
	_mav_put_int32_t(buf, 12, alt);
	_mav_put_int32_t(buf, 16, relative_alt);
	_mav_put_int16_t(buf, 20, vx);
	_mav_put_int16_t(buf, 22, vy);
	_mav_put_int16_t(buf, 24, vz);
	_mav_put_uint16_t(buf, 26, hdg);

	memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
	mavlink_global_position_int_t packet;
	packet.time_boot_ms = time_boot_ms;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.relative_alt = relative_alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;
	packet.hdg = hdg;

	memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif

	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
	return mavlink_finalize_message(msg, system_id, component_id, 28, 104);
}

/**
 * @brief Pack a global_position_int message on a channel
 * @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 time_boot_ms Timestamp (milliseconds since system boot)
 * @param lat Latitude, expressed as * 1E7
 * @param lon Longitude, expressed as * 1E7
 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
																 mavlink_message_t *msg,
																 uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[28];
	_mav_put_uint32_t(buf, 0, time_boot_ms);
	_mav_put_int32_t(buf, 4, lat);
	_mav_put_int32_t(buf, 8, lon);
	_mav_put_int32_t(buf, 12, alt);
	_mav_put_int32_t(buf, 16, relative_alt);
	_mav_put_int16_t(buf, 20, vx);
	_mav_put_int16_t(buf, 22, vy);
	_mav_put_int16_t(buf, 24, vz);
	_mav_put_uint16_t(buf, 26, hdg);

	memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
	mavlink_global_position_int_t packet;
	packet.time_boot_ms = time_boot_ms;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.relative_alt = relative_alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;
	packet.hdg = hdg;

	memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif

	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 104);
}

/**
 * @brief Encode a global_position_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 global_position_int C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_global_position_int_t *global_position_int)
{
	return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
}

/**
 * @brief Send a global_position_int message
 * @param chan MAVLink channel to send the message
 *
 * @param time_boot_ms Timestamp (milliseconds since system boot)
 * @param lat Latitude, expressed as * 1E7
 * @param lon Longitude, expressed as * 1E7
 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[28];
	_mav_put_uint32_t(buf, 0, time_boot_ms);
	_mav_put_int32_t(buf, 4, lat);
	_mav_put_int32_t(buf, 8, lon);
	_mav_put_int32_t(buf, 12, alt);
	_mav_put_int32_t(buf, 16, relative_alt);
	_mav_put_int16_t(buf, 20, vx);
	_mav_put_int16_t(buf, 22, vy);
	_mav_put_int16_t(buf, 24, vz);
	_mav_put_uint16_t(buf, 26, hdg);

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 28, 104);
#else
	mavlink_global_position_int_t packet;
	packet.time_boot_ms = time_boot_ms;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.relative_alt = relative_alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;
	packet.hdg = hdg;

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 28, 104);
#endif
}

#endif

// MESSAGE GLOBAL_POSITION_INT UNPACKING

/**
 * @brief Get field time_boot_ms from global_position_int message
 *
 * @return Timestamp (milliseconds since system boot)
 */
static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t *msg)
{
	return _MAV_RETURN_uint32_t(msg, 0);
}

/**
 * @brief Get field lat from global_position_int message
 *
 * @return Latitude, expressed as * 1E7
 */
static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int32_t(msg, 4);
}

/**
 * @brief Get field lon from global_position_int message
 *
 * @return Longitude, expressed as * 1E7
 */
static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int32_t(msg, 8);
}

/**
 * @brief Get field alt from global_position_int message
 *
 * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
 */
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int32_t(msg, 12);
}

/**
 * @brief Get field relative_alt from global_position_int message
 *
 * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 */
static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int32_t(msg, 16);
}

/**
 * @brief Get field vx from global_position_int message
 *
 * @return Ground X Speed (Latitude), expressed as m/s * 100
 */
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int16_t(msg, 20);
}

/**
 * @brief Get field vy from global_position_int message
 *
 * @return Ground Y Speed (Longitude), expressed as m/s * 100
 */
static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int16_t(msg, 22);
}

/**
 * @brief Get field vz from global_position_int message
 *
 * @return Ground Z Speed (Altitude), expressed as m/s * 100
 */
static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t *msg)
{
	return _MAV_RETURN_int16_t(msg, 24);
}

/**
 * @brief Get field hdg from global_position_int message
 *
 * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
 */
static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t *msg)
{
	return _MAV_RETURN_uint16_t(msg, 26);
}

/**
 * @brief Decode a global_position_int message into a struct
 *
 * @param msg The message to decode
 * @param global_position_int C-struct to decode the message contents into
 */
static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t *msg, mavlink_global_position_int_t *global_position_int)
{
#if MAVLINK_NEED_BYTE_SWAP
	global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
	global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
	global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
	global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
	global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
	global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
	global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
	global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
	global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
#else
	memcpy(global_position_int, _MAV_PAYLOAD(msg), 28);
#endif
}

/**
 * @brief Pack a home_position message
 * @param system_id ID of this system
 * @param component_id ID of this component
 * @param msg The MAVLink message to compress the data into
 * @param home_position C-struct to read the message contents from
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_home_position_t *home_position)
{
	char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
	_mav_put_int32_t(buf, 0, home_position->latitude);
	_mav_put_int32_t(buf, 4, home_position->longitude);
	_mav_put_int32_t(buf, 8, home_position->altitude);
	_mav_put_float(buf, 12, home_position->x);
	_mav_put_float(buf, 16, home_position->y);
	_mav_put_float(buf, 20, home_position->z);
	_mav_put_float_array(buf, 24, home_position->q, 4);
	_mav_put_float(buf, 40, home_position->approach_x);
	_mav_put_float(buf, 44, home_position->approach_y);
	_mav_put_float(buf, 48, home_position->approach_z);
	_mav_put_uint64_t(buf, 52, home_position->time_usec);

	memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
	msg->msgid = MAVLINK_MSG_ID_HOME_POSITION;
	return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HOME_POSITION_LEN, 0);
}

/**
 * @brief Decode a home_position message into a struct
 * @param msg The message to decode
 * @param home_position C-struct to decode the message contents into
 */
static inline void mavlink_msg_home_position_decode(const mavlink_message_t *msg, mavlink_home_position_t *home_position)
{
#if MAVLINK_NEED_BYTE_SWAP
	home_position->latitude = mavlink_msg_home_position_get_latitude(msg);
	home_position->longitude = mavlink_msg_home_position_get_longitude(msg);
	home_position->altitude = mavlink_msg_home_position_get_altitude(msg);
	home_position->x = mavlink_msg_home_position_get_x(msg);
	home_position->y = mavlink_msg_home_position_get_y(msg);
	home_position->z = mavlink_msg_home_position_get_z(msg);
	mavlink_msg_home_position_get_q(msg, home_position->q);
	home_position->approach_x = mavlink_msg_home_position_get_approach_x(msg);
	home_position->approach_y = mavlink_msg_home_position_get_approach_y(msg);
	home_position->approach_z = mavlink_msg_home_position_get_approach_z(msg);
	home_position->time_usec = mavlink_msg_home_position_get_time_usec(msg);
#else
	memcpy(home_position, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HOME_POSITION_LEN);
#endif
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

/**
 * @brief Send a home_position message
 * @param chan MAVLink channel to send the message
 * @param home_position C-struct to send the message contents from
 */
static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, const mavlink_home_position_t *home_position)
{
	mavlink_message_t msg;
	mavlink_msg_home_position_pack_chan(0, 0, chan, &msg, home_position);
	mavlink_send_uart(chan, &msg);
}

#endif