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
514 lines
23 KiB
C
514 lines
23 KiB
C
#pragma once
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// MESSAGE GPS2_RTK PACKING
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#define MAVLINK_MSG_ID_GPS2_RTK 128
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MAVPACKED(
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typedef struct __mavlink_gps2_rtk_t {
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uint32_t time_last_baseline_ms; /*< [ms] Time since boot of last baseline message received.*/
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uint32_t tow; /*< [ms] GPS Time of Week of last baseline*/
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int32_t baseline_a_mm; /*< [mm] Current baseline in ECEF x or NED north component.*/
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int32_t baseline_b_mm; /*< [mm] Current baseline in ECEF y or NED east component.*/
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int32_t baseline_c_mm; /*< [mm] Current baseline in ECEF z or NED down component.*/
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uint32_t accuracy; /*< Current estimate of baseline accuracy.*/
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int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/
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uint16_t wn; /*< GPS Week Number of last baseline*/
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uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/
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uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
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uint8_t rtk_rate; /*< [Hz] Rate of baseline messages being received by GPS*/
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uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
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uint8_t baseline_coords_type; /*< Coordinate system of baseline*/
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}) mavlink_gps2_rtk_t;
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#define MAVLINK_MSG_ID_GPS2_RTK_LEN 35
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#define MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN 35
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#define MAVLINK_MSG_ID_128_LEN 35
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#define MAVLINK_MSG_ID_128_MIN_LEN 35
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#define MAVLINK_MSG_ID_GPS2_RTK_CRC 226
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#define MAVLINK_MSG_ID_128_CRC 226
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GPS2_RTK { \
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128, \
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"GPS2_RTK", \
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13, \
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{ { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps2_rtk_t, time_last_baseline_ms) }, \
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{ "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps2_rtk_t, rtk_receiver_id) }, \
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{ "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_rtk_t, wn) }, \
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{ "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps2_rtk_t, tow) }, \
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{ "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps2_rtk_t, rtk_health) }, \
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{ "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_rtk_t, rtk_rate) }, \
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{ "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_rtk_t, nsats) }, \
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{ "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_rtk_t, baseline_coords_type) }, \
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{ "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_rtk_t, baseline_a_mm) }, \
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{ "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_rtk_t, baseline_b_mm) }, \
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{ "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_rtk_t, baseline_c_mm) }, \
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{ "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_rtk_t, accuracy) }, \
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{ "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps2_rtk_t, iar_num_hypotheses) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GPS2_RTK { \
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"GPS2_RTK", \
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13, \
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{ { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps2_rtk_t, time_last_baseline_ms) }, \
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{ "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps2_rtk_t, rtk_receiver_id) }, \
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{ "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_rtk_t, wn) }, \
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{ "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps2_rtk_t, tow) }, \
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{ "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps2_rtk_t, rtk_health) }, \
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{ "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_rtk_t, rtk_rate) }, \
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{ "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_rtk_t, nsats) }, \
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{ "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_rtk_t, baseline_coords_type) }, \
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{ "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_rtk_t, baseline_a_mm) }, \
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{ "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_rtk_t, baseline_b_mm) }, \
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{ "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_rtk_t, baseline_c_mm) }, \
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{ "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_rtk_t, accuracy) }, \
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{ "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps2_rtk_t, iar_num_hypotheses) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gps2_rtk 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_last_baseline_ms [ms] Time since boot of last baseline message received.
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* @param rtk_receiver_id Identification of connected RTK receiver.
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* @param wn GPS Week Number of last baseline
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* @param tow [ms] GPS Time of Week of last baseline
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* @param rtk_health GPS-specific health report for RTK data.
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* @param rtk_rate [Hz] Rate of baseline messages being received by GPS
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* @param nsats Current number of sats used for RTK calculation.
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* @param baseline_coords_type Coordinate system of baseline
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* @param baseline_a_mm [mm] Current baseline in ECEF x or NED north component.
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* @param baseline_b_mm [mm] Current baseline in ECEF y or NED east component.
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* @param baseline_c_mm [mm] Current baseline in ECEF z or NED down component.
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* @param accuracy Current estimate of baseline accuracy.
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* @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
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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_gps2_rtk_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
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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_GPS2_RTK_LEN];
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_mav_put_uint32_t(buf, 0, time_last_baseline_ms);
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_mav_put_uint32_t(buf, 4, tow);
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_mav_put_int32_t(buf, 8, baseline_a_mm);
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_mav_put_int32_t(buf, 12, baseline_b_mm);
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_mav_put_int32_t(buf, 16, baseline_c_mm);
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_mav_put_uint32_t(buf, 20, accuracy);
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_mav_put_int32_t(buf, 24, iar_num_hypotheses);
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_mav_put_uint16_t(buf, 28, wn);
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_mav_put_uint8_t(buf, 30, rtk_receiver_id);
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_mav_put_uint8_t(buf, 31, rtk_health);
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_mav_put_uint8_t(buf, 32, rtk_rate);
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_mav_put_uint8_t(buf, 33, nsats);
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_mav_put_uint8_t(buf, 34, baseline_coords_type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RTK_LEN);
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#else
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mavlink_gps2_rtk_t packet;
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packet.time_last_baseline_ms = time_last_baseline_ms;
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packet.tow = tow;
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packet.baseline_a_mm = baseline_a_mm;
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packet.baseline_b_mm = baseline_b_mm;
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packet.baseline_c_mm = baseline_c_mm;
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packet.accuracy = accuracy;
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packet.iar_num_hypotheses = iar_num_hypotheses;
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packet.wn = wn;
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packet.rtk_receiver_id = rtk_receiver_id;
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packet.rtk_health = rtk_health;
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packet.rtk_rate = rtk_rate;
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packet.nsats = nsats;
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packet.baseline_coords_type = baseline_coords_type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RTK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS2_RTK;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
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}
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/**
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* @brief Pack a gps2_rtk 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_last_baseline_ms [ms] Time since boot of last baseline message received.
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* @param rtk_receiver_id Identification of connected RTK receiver.
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* @param wn GPS Week Number of last baseline
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* @param tow [ms] GPS Time of Week of last baseline
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* @param rtk_health GPS-specific health report for RTK data.
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* @param rtk_rate [Hz] Rate of baseline messages being received by GPS
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* @param nsats Current number of sats used for RTK calculation.
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* @param baseline_coords_type Coordinate system of baseline
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* @param baseline_a_mm [mm] Current baseline in ECEF x or NED north component.
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* @param baseline_b_mm [mm] Current baseline in ECEF y or NED east component.
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* @param baseline_c_mm [mm] Current baseline in ECEF z or NED down component.
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* @param accuracy Current estimate of baseline accuracy.
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* @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
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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_gps2_rtk_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_last_baseline_ms,uint8_t rtk_receiver_id,uint16_t wn,uint32_t tow,uint8_t rtk_health,uint8_t rtk_rate,uint8_t nsats,uint8_t baseline_coords_type,int32_t baseline_a_mm,int32_t baseline_b_mm,int32_t baseline_c_mm,uint32_t accuracy,int32_t iar_num_hypotheses)
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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_GPS2_RTK_LEN];
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_mav_put_uint32_t(buf, 0, time_last_baseline_ms);
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_mav_put_uint32_t(buf, 4, tow);
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_mav_put_int32_t(buf, 8, baseline_a_mm);
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_mav_put_int32_t(buf, 12, baseline_b_mm);
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_mav_put_int32_t(buf, 16, baseline_c_mm);
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_mav_put_uint32_t(buf, 20, accuracy);
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_mav_put_int32_t(buf, 24, iar_num_hypotheses);
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_mav_put_uint16_t(buf, 28, wn);
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_mav_put_uint8_t(buf, 30, rtk_receiver_id);
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_mav_put_uint8_t(buf, 31, rtk_health);
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_mav_put_uint8_t(buf, 32, rtk_rate);
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_mav_put_uint8_t(buf, 33, nsats);
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_mav_put_uint8_t(buf, 34, baseline_coords_type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RTK_LEN);
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#else
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mavlink_gps2_rtk_t packet;
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packet.time_last_baseline_ms = time_last_baseline_ms;
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packet.tow = tow;
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packet.baseline_a_mm = baseline_a_mm;
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packet.baseline_b_mm = baseline_b_mm;
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packet.baseline_c_mm = baseline_c_mm;
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packet.accuracy = accuracy;
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packet.iar_num_hypotheses = iar_num_hypotheses;
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packet.wn = wn;
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packet.rtk_receiver_id = rtk_receiver_id;
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packet.rtk_health = rtk_health;
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packet.rtk_rate = rtk_rate;
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packet.nsats = nsats;
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packet.baseline_coords_type = baseline_coords_type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RTK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS2_RTK;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
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}
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/**
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* @brief Encode a gps2_rtk 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 gps2_rtk C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps2_rtk_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_rtk_t* gps2_rtk)
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{
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return mavlink_msg_gps2_rtk_pack(system_id, component_id, msg, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses);
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}
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/**
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* @brief Encode a gps2_rtk 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 gps2_rtk C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps2_rtk_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_rtk_t* gps2_rtk)
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{
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return mavlink_msg_gps2_rtk_pack_chan(system_id, component_id, chan, msg, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses);
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}
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/**
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* @brief Send a gps2_rtk message
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* @param chan MAVLink channel to send the message
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*
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* @param time_last_baseline_ms [ms] Time since boot of last baseline message received.
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* @param rtk_receiver_id Identification of connected RTK receiver.
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* @param wn GPS Week Number of last baseline
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* @param tow [ms] GPS Time of Week of last baseline
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* @param rtk_health GPS-specific health report for RTK data.
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* @param rtk_rate [Hz] Rate of baseline messages being received by GPS
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* @param nsats Current number of sats used for RTK calculation.
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* @param baseline_coords_type Coordinate system of baseline
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* @param baseline_a_mm [mm] Current baseline in ECEF x or NED north component.
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* @param baseline_b_mm [mm] Current baseline in ECEF y or NED east component.
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* @param baseline_c_mm [mm] Current baseline in ECEF z or NED down component.
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* @param accuracy Current estimate of baseline accuracy.
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* @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gps2_rtk_send(mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
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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_GPS2_RTK_LEN];
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_mav_put_uint32_t(buf, 0, time_last_baseline_ms);
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_mav_put_uint32_t(buf, 4, tow);
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_mav_put_int32_t(buf, 8, baseline_a_mm);
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_mav_put_int32_t(buf, 12, baseline_b_mm);
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_mav_put_int32_t(buf, 16, baseline_c_mm);
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_mav_put_uint32_t(buf, 20, accuracy);
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_mav_put_int32_t(buf, 24, iar_num_hypotheses);
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_mav_put_uint16_t(buf, 28, wn);
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_mav_put_uint8_t(buf, 30, rtk_receiver_id);
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_mav_put_uint8_t(buf, 31, rtk_health);
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_mav_put_uint8_t(buf, 32, rtk_rate);
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_mav_put_uint8_t(buf, 33, nsats);
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_mav_put_uint8_t(buf, 34, baseline_coords_type);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, buf, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
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#else
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mavlink_gps2_rtk_t packet;
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packet.time_last_baseline_ms = time_last_baseline_ms;
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packet.tow = tow;
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packet.baseline_a_mm = baseline_a_mm;
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packet.baseline_b_mm = baseline_b_mm;
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packet.baseline_c_mm = baseline_c_mm;
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packet.accuracy = accuracy;
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packet.iar_num_hypotheses = iar_num_hypotheses;
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packet.wn = wn;
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packet.rtk_receiver_id = rtk_receiver_id;
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packet.rtk_health = rtk_health;
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packet.rtk_rate = rtk_rate;
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packet.nsats = nsats;
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packet.baseline_coords_type = baseline_coords_type;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a gps2_rtk message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_gps2_rtk_send_struct(mavlink_channel_t chan, const mavlink_gps2_rtk_t* gps2_rtk)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_gps2_rtk_send(chan, gps2_rtk->time_last_baseline_ms, gps2_rtk->rtk_receiver_id, gps2_rtk->wn, gps2_rtk->tow, gps2_rtk->rtk_health, gps2_rtk->rtk_rate, gps2_rtk->nsats, gps2_rtk->baseline_coords_type, gps2_rtk->baseline_a_mm, gps2_rtk->baseline_b_mm, gps2_rtk->baseline_c_mm, gps2_rtk->accuracy, gps2_rtk->iar_num_hypotheses);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)gps2_rtk, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_GPS2_RTK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
static inline void mavlink_msg_gps2_rtk_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, time_last_baseline_ms);
|
|
_mav_put_uint32_t(buf, 4, tow);
|
|
_mav_put_int32_t(buf, 8, baseline_a_mm);
|
|
_mav_put_int32_t(buf, 12, baseline_b_mm);
|
|
_mav_put_int32_t(buf, 16, baseline_c_mm);
|
|
_mav_put_uint32_t(buf, 20, accuracy);
|
|
_mav_put_int32_t(buf, 24, iar_num_hypotheses);
|
|
_mav_put_uint16_t(buf, 28, wn);
|
|
_mav_put_uint8_t(buf, 30, rtk_receiver_id);
|
|
_mav_put_uint8_t(buf, 31, rtk_health);
|
|
_mav_put_uint8_t(buf, 32, rtk_rate);
|
|
_mav_put_uint8_t(buf, 33, nsats);
|
|
_mav_put_uint8_t(buf, 34, baseline_coords_type);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, buf, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
|
|
#else
|
|
mavlink_gps2_rtk_t *packet = (mavlink_gps2_rtk_t *)msgbuf;
|
|
packet->time_last_baseline_ms = time_last_baseline_ms;
|
|
packet->tow = tow;
|
|
packet->baseline_a_mm = baseline_a_mm;
|
|
packet->baseline_b_mm = baseline_b_mm;
|
|
packet->baseline_c_mm = baseline_c_mm;
|
|
packet->accuracy = accuracy;
|
|
packet->iar_num_hypotheses = iar_num_hypotheses;
|
|
packet->wn = wn;
|
|
packet->rtk_receiver_id = rtk_receiver_id;
|
|
packet->rtk_health = rtk_health;
|
|
packet->rtk_rate = rtk_rate;
|
|
packet->nsats = nsats;
|
|
packet->baseline_coords_type = baseline_coords_type;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS2_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS2_RTK_LEN, MAVLINK_MSG_ID_GPS2_RTK_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE GPS2_RTK UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_last_baseline_ms from gps2_rtk message
|
|
*
|
|
* @return [ms] Time since boot of last baseline message received.
|
|
*/
|
|
static inline uint32_t mavlink_msg_gps2_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field rtk_receiver_id from gps2_rtk message
|
|
*
|
|
* @return Identification of connected RTK receiver.
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_receiver_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 30);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field wn from gps2_rtk message
|
|
*
|
|
* @return GPS Week Number of last baseline
|
|
*/
|
|
static inline uint16_t mavlink_msg_gps2_rtk_get_wn(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field tow from gps2_rtk message
|
|
*
|
|
* @return [ms] GPS Time of Week of last baseline
|
|
*/
|
|
static inline uint32_t mavlink_msg_gps2_rtk_get_tow(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field rtk_health from gps2_rtk message
|
|
*
|
|
* @return GPS-specific health report for RTK data.
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_health(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 31);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field rtk_rate from gps2_rtk message
|
|
*
|
|
* @return [Hz] Rate of baseline messages being received by GPS
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field nsats from gps2_rtk message
|
|
*
|
|
* @return Current number of sats used for RTK calculation.
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps2_rtk_get_nsats(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 33);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field baseline_coords_type from gps2_rtk message
|
|
*
|
|
* @return Coordinate system of baseline
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps2_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 34);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field baseline_a_mm from gps2_rtk message
|
|
*
|
|
* @return [mm] Current baseline in ECEF x or NED north component.
|
|
*/
|
|
static inline int32_t mavlink_msg_gps2_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field baseline_b_mm from gps2_rtk message
|
|
*
|
|
* @return [mm] Current baseline in ECEF y or NED east component.
|
|
*/
|
|
static inline int32_t mavlink_msg_gps2_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field baseline_c_mm from gps2_rtk message
|
|
*
|
|
* @return [mm] Current baseline in ECEF z or NED down component.
|
|
*/
|
|
static inline int32_t mavlink_msg_gps2_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field accuracy from gps2_rtk message
|
|
*
|
|
* @return Current estimate of baseline accuracy.
|
|
*/
|
|
static inline uint32_t mavlink_msg_gps2_rtk_get_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field iar_num_hypotheses from gps2_rtk message
|
|
*
|
|
* @return Current number of integer ambiguity hypotheses.
|
|
*/
|
|
static inline int32_t mavlink_msg_gps2_rtk_get_iar_num_hypotheses(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a gps2_rtk message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param gps2_rtk C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_gps2_rtk_decode(const mavlink_message_t* msg, mavlink_gps2_rtk_t* gps2_rtk)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
gps2_rtk->time_last_baseline_ms = mavlink_msg_gps2_rtk_get_time_last_baseline_ms(msg);
|
|
gps2_rtk->tow = mavlink_msg_gps2_rtk_get_tow(msg);
|
|
gps2_rtk->baseline_a_mm = mavlink_msg_gps2_rtk_get_baseline_a_mm(msg);
|
|
gps2_rtk->baseline_b_mm = mavlink_msg_gps2_rtk_get_baseline_b_mm(msg);
|
|
gps2_rtk->baseline_c_mm = mavlink_msg_gps2_rtk_get_baseline_c_mm(msg);
|
|
gps2_rtk->accuracy = mavlink_msg_gps2_rtk_get_accuracy(msg);
|
|
gps2_rtk->iar_num_hypotheses = mavlink_msg_gps2_rtk_get_iar_num_hypotheses(msg);
|
|
gps2_rtk->wn = mavlink_msg_gps2_rtk_get_wn(msg);
|
|
gps2_rtk->rtk_receiver_id = mavlink_msg_gps2_rtk_get_rtk_receiver_id(msg);
|
|
gps2_rtk->rtk_health = mavlink_msg_gps2_rtk_get_rtk_health(msg);
|
|
gps2_rtk->rtk_rate = mavlink_msg_gps2_rtk_get_rtk_rate(msg);
|
|
gps2_rtk->nsats = mavlink_msg_gps2_rtk_get_nsats(msg);
|
|
gps2_rtk->baseline_coords_type = mavlink_msg_gps2_rtk_get_baseline_coords_type(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RTK_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RTK_LEN;
|
|
memset(gps2_rtk, 0, MAVLINK_MSG_ID_GPS2_RTK_LEN);
|
|
memcpy(gps2_rtk, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|