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
264 lines
11 KiB
C
264 lines
11 KiB
C
#pragma once
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// MESSAGE GPS_GLOBAL_ORIGIN PACKING
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#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
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MAVPACKED(
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typedef struct __mavlink_gps_global_origin_t {
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int32_t latitude; /*< [degE7] Latitude (WGS84)*/
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int32_t longitude; /*< [degE7] Longitude (WGS84)*/
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int32_t altitude; /*< [mm] Altitude (MSL). Positive for up.*/
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}) mavlink_gps_global_origin_t;
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#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
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#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN 12
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#define MAVLINK_MSG_ID_49_LEN 12
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#define MAVLINK_MSG_ID_49_MIN_LEN 12
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#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
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#define MAVLINK_MSG_ID_49_CRC 39
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
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49, \
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"GPS_GLOBAL_ORIGIN", \
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3, \
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{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
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"GPS_GLOBAL_ORIGIN", \
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3, \
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{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gps_global_origin 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 latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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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_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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int32_t latitude, int32_t longitude, int32_t altitude)
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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_GPS_GLOBAL_ORIGIN_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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#else
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mavlink_gps_global_origin_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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}
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/**
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* @brief Pack a gps_global_origin 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 latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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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_gps_global_origin_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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int32_t latitude,int32_t longitude,int32_t altitude)
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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_GPS_GLOBAL_ORIGIN_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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#else
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mavlink_gps_global_origin_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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}
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/**
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* @brief Encode a gps_global_origin 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 gps_global_origin C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
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{
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return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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}
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/**
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* @brief Encode a gps_global_origin 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 gps_global_origin C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
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{
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return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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}
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/**
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* @brief Send a gps_global_origin message
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* @param chan MAVLink channel to send the message
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*
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* @param latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
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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_GPS_GLOBAL_ORIGIN_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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#else
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mavlink_gps_global_origin_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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#endif
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}
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/**
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* @brief Send a gps_global_origin 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_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_gps_global_origin_t* gps_global_origin)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_gps_global_origin_send(chan, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)gps_global_origin, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_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_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
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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_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
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#else
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mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf;
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packet->latitude = latitude;
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packet->longitude = longitude;
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packet->altitude = altitude;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_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 GPS_GLOBAL_ORIGIN UNPACKING
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/**
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* @brief Get field latitude from gps_global_origin message
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*
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* @return [degE7] Latitude (WGS84)
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*/
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static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 0);
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}
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/**
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* @brief Get field longitude from gps_global_origin message
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*
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* @return [degE7] Longitude (WGS84)
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*/
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static inline int32_t mavlink_msg_gps_global_origin_get_longitude(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 altitude from gps_global_origin message
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*
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* @return [mm] Altitude (MSL). Positive for up.
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*/
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static inline int32_t mavlink_msg_gps_global_origin_get_altitude(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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* @brief Decode a gps_global_origin message into a struct
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*
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* @param msg The message to decode
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* @param gps_global_origin C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
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gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
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gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN;
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memset(gps_global_origin, 0, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
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memcpy(gps_global_origin, _MAV_PAYLOAD(msg), len);
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#endif
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}
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