1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
414 lines
18 KiB
C
414 lines
18 KiB
C
#pragma once
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// MESSAGE GLOBAL_POSITION_INT PACKING
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
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MAVPACKED(
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typedef struct __mavlink_global_position_int_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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int32_t lat; /*< [degE7] Latitude, expressed*/
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int32_t lon; /*< [degE7] Longitude, expressed*/
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int32_t alt; /*< [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.*/
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int32_t relative_alt; /*< [mm] Altitude above ground*/
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int16_t vx; /*< [cm/s] Ground X Speed (Latitude, positive north)*/
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int16_t vy; /*< [cm/s] Ground Y Speed (Longitude, positive east)*/
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int16_t vz; /*< [cm/s] Ground Z Speed (Altitude, positive down)*/
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uint16_t hdg; /*< [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
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}) mavlink_global_position_int_t;
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
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#define MAVLINK_MSG_ID_33_LEN 28
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#define MAVLINK_MSG_ID_33_MIN_LEN 28
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
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#define MAVLINK_MSG_ID_33_CRC 104
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
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33, \
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"GLOBAL_POSITION_INT", \
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9, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
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{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
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{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
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{ "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
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"GLOBAL_POSITION_INT", \
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9, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
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{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
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{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
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{ "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a global_position_int message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param lat [degE7] Latitude, expressed
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* @param lon [degE7] Longitude, expressed
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* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X Speed (Latitude, positive north)
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* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
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* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
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* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int16_t(buf, 20, vx);
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_mav_put_int16_t(buf, 22, vy);
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_mav_put_int16_t(buf, 24, vz);
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_mav_put_uint16_t(buf, 26, hdg);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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#else
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mavlink_global_position_int_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.relative_alt = relative_alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.hdg = hdg;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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}
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/**
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* @brief Pack a global_position_int message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param lat [degE7] Latitude, expressed
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* @param lon [degE7] Longitude, expressed
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* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X Speed (Latitude, positive north)
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* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
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* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
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* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int16_t(buf, 20, vx);
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_mav_put_int16_t(buf, 22, vy);
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_mav_put_int16_t(buf, 24, vz);
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_mav_put_uint16_t(buf, 26, hdg);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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#else
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mavlink_global_position_int_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.relative_alt = relative_alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.hdg = hdg;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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}
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/**
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* @brief Encode a global_position_int struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param global_position_int C-struct to read the message contents from
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*/
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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)
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{
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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);
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}
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/**
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* @brief Encode a global_position_int struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param global_position_int C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
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{
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return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, 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);
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}
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/**
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* @brief Send a global_position_int message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param lat [degE7] Latitude, expressed
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* @param lon [degE7] Longitude, expressed
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* @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X Speed (Latitude, positive north)
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* @param vy [cm/s] Ground Y Speed (Longitude, positive east)
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* @param vz [cm/s] Ground Z Speed (Altitude, positive down)
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* @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int16_t(buf, 20, vx);
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_mav_put_int16_t(buf, 22, vy);
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_mav_put_int16_t(buf, 24, vz);
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_mav_put_uint16_t(buf, 26, hdg);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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#else
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mavlink_global_position_int_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.relative_alt = relative_alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.hdg = hdg;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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#endif
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}
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/**
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* @brief Send a global_position_int message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_global_position_int_send(chan, 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);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, 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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int16_t(buf, 20, vx);
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_mav_put_int16_t(buf, 22, vy);
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_mav_put_int16_t(buf, 24, vz);
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_mav_put_uint16_t(buf, 26, hdg);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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#else
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mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->lat = lat;
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packet->lon = lon;
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packet->alt = alt;
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packet->relative_alt = relative_alt;
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packet->vx = vx;
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packet->vy = vy;
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packet->vz = vz;
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packet->hdg = hdg;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE GLOBAL_POSITION_INT UNPACKING
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/**
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* @brief Get field time_boot_ms from global_position_int message
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*
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* @return [ms] Timestamp (time since system boot).
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*/
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static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field lat from global_position_int message
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*
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* @return [degE7] Latitude, expressed
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*/
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static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 4);
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}
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/**
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* @brief Get field lon from global_position_int message
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*
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* @return [degE7] Longitude, expressed
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*/
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static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
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|
{
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return _MAV_RETURN_int32_t(msg, 8);
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}
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|
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/**
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* @brief Get field alt from global_position_int message
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*
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* @return [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
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*/
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static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
|
|
{
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return _MAV_RETURN_int32_t(msg, 12);
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}
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|
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/**
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|
* @brief Get field relative_alt from global_position_int message
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*
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|
* @return [mm] Altitude above ground
|
|
*/
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|
static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
|
|
{
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|
return _MAV_RETURN_int32_t(msg, 16);
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|
}
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|
|
|
/**
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|
* @brief Get field vx from global_position_int message
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|
*
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|
* @return [cm/s] Ground X Speed (Latitude, positive north)
|
|
*/
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|
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 20);
|
|
}
|
|
|
|
/**
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|
* @brief Get field vy from global_position_int message
|
|
*
|
|
* @return [cm/s] Ground Y Speed (Longitude, positive east)
|
|
*/
|
|
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 [cm/s] Ground Z Speed (Altitude, positive down)
|
|
*/
|
|
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 [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
|
|
*/
|
|
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 || !MAVLINK_ALIGNED_FIELDS
|
|
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
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
|
|
memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
|
|
memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|