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
639 lines
28 KiB
C
639 lines
28 KiB
C
#pragma once
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// MESSAGE GPS_INPUT PACKING
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#define MAVLINK_MSG_ID_GPS_INPUT 232
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MAVPACKED(
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typedef struct __mavlink_gps_input_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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uint32_t time_week_ms; /*< [ms] GPS time (from start of GPS week)*/
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int32_t lat; /*< [degE7] Latitude (WGS84)*/
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int32_t lon; /*< [degE7] Longitude (WGS84)*/
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float alt; /*< [m] Altitude (MSL). Positive for up.*/
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float hdop; /*< [m] GPS HDOP horizontal dilution of position*/
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float vdop; /*< [m] GPS VDOP vertical dilution of position*/
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float vn; /*< [m/s] GPS velocity in north direction in earth-fixed NED frame*/
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float ve; /*< [m/s] GPS velocity in east direction in earth-fixed NED frame*/
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float vd; /*< [m/s] GPS velocity in down direction in earth-fixed NED frame*/
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float speed_accuracy; /*< [m/s] GPS speed accuracy*/
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float horiz_accuracy; /*< [m] GPS horizontal accuracy*/
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float vert_accuracy; /*< [m] GPS vertical accuracy*/
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uint16_t ignore_flags; /*< Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.*/
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uint16_t time_week; /*< GPS week number*/
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uint8_t gps_id; /*< ID of the GPS for multiple GPS inputs*/
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uint8_t fix_type; /*< 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK*/
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uint8_t satellites_visible; /*< Number of satellites visible.*/
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}) mavlink_gps_input_t;
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#define MAVLINK_MSG_ID_GPS_INPUT_LEN 63
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#define MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN 63
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#define MAVLINK_MSG_ID_232_LEN 63
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#define MAVLINK_MSG_ID_232_MIN_LEN 63
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#define MAVLINK_MSG_ID_GPS_INPUT_CRC 151
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#define MAVLINK_MSG_ID_232_CRC 151
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GPS_INPUT { \
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232, \
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"GPS_INPUT", \
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18, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_input_t, time_usec) }, \
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{ "gps_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 60, offsetof(mavlink_gps_input_t, gps_id) }, \
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{ "ignore_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_gps_input_t, ignore_flags) }, \
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{ "time_week_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_gps_input_t, time_week_ms) }, \
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{ "time_week", NULL, MAVLINK_TYPE_UINT16_T, 0, 58, offsetof(mavlink_gps_input_t, time_week) }, \
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{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 61, offsetof(mavlink_gps_input_t, fix_type) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_input_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_input_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gps_input_t, alt) }, \
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{ "hdop", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gps_input_t, hdop) }, \
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{ "vdop", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gps_input_t, vdop) }, \
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{ "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gps_input_t, vn) }, \
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{ "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gps_input_t, ve) }, \
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{ "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_gps_input_t, vd) }, \
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{ "speed_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_gps_input_t, speed_accuracy) }, \
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{ "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_gps_input_t, horiz_accuracy) }, \
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{ "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_gps_input_t, vert_accuracy) }, \
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{ "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_gps_input_t, satellites_visible) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GPS_INPUT { \
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"GPS_INPUT", \
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18, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_input_t, time_usec) }, \
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{ "gps_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 60, offsetof(mavlink_gps_input_t, gps_id) }, \
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{ "ignore_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_gps_input_t, ignore_flags) }, \
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{ "time_week_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_gps_input_t, time_week_ms) }, \
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{ "time_week", NULL, MAVLINK_TYPE_UINT16_T, 0, 58, offsetof(mavlink_gps_input_t, time_week) }, \
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{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 61, offsetof(mavlink_gps_input_t, fix_type) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_input_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_input_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gps_input_t, alt) }, \
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{ "hdop", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gps_input_t, hdop) }, \
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{ "vdop", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gps_input_t, vdop) }, \
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{ "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gps_input_t, vn) }, \
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{ "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gps_input_t, ve) }, \
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{ "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_gps_input_t, vd) }, \
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{ "speed_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_gps_input_t, speed_accuracy) }, \
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{ "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_gps_input_t, horiz_accuracy) }, \
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{ "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_gps_input_t, vert_accuracy) }, \
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{ "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_gps_input_t, satellites_visible) }, \
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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_input 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param gps_id ID of the GPS for multiple GPS inputs
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* @param ignore_flags Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
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* @param time_week_ms [ms] GPS time (from start of GPS week)
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* @param time_week GPS week number
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* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL). Positive for up.
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* @param hdop [m] GPS HDOP horizontal dilution of position
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* @param vdop [m] GPS VDOP vertical dilution of position
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* @param vn [m/s] GPS velocity in north direction in earth-fixed NED frame
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* @param ve [m/s] GPS velocity in east direction in earth-fixed NED frame
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* @param vd [m/s] GPS velocity in down direction in earth-fixed NED frame
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* @param speed_accuracy [m/s] GPS speed accuracy
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* @param horiz_accuracy [m] GPS horizontal accuracy
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* @param vert_accuracy [m] GPS vertical accuracy
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* @param satellites_visible Number of satellites visible.
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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_input_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible)
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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_INPUT_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, time_week_ms);
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_mav_put_int32_t(buf, 12, lat);
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_mav_put_int32_t(buf, 16, lon);
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_mav_put_float(buf, 20, alt);
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_mav_put_float(buf, 24, hdop);
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_mav_put_float(buf, 28, vdop);
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_mav_put_float(buf, 32, vn);
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_mav_put_float(buf, 36, ve);
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_mav_put_float(buf, 40, vd);
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_mav_put_float(buf, 44, speed_accuracy);
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_mav_put_float(buf, 48, horiz_accuracy);
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_mav_put_float(buf, 52, vert_accuracy);
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_mav_put_uint16_t(buf, 56, ignore_flags);
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_mav_put_uint16_t(buf, 58, time_week);
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_mav_put_uint8_t(buf, 60, gps_id);
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_mav_put_uint8_t(buf, 61, fix_type);
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_mav_put_uint8_t(buf, 62, satellites_visible);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INPUT_LEN);
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#else
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mavlink_gps_input_t packet;
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packet.time_usec = time_usec;
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packet.time_week_ms = time_week_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.hdop = hdop;
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packet.vdop = vdop;
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packet.vn = vn;
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packet.ve = ve;
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packet.vd = vd;
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packet.speed_accuracy = speed_accuracy;
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packet.horiz_accuracy = horiz_accuracy;
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packet.vert_accuracy = vert_accuracy;
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packet.ignore_flags = ignore_flags;
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packet.time_week = time_week;
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packet.gps_id = gps_id;
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packet.fix_type = fix_type;
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packet.satellites_visible = satellites_visible;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INPUT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_INPUT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
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}
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/**
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* @brief Pack a gps_input 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param gps_id ID of the GPS for multiple GPS inputs
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* @param ignore_flags Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
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* @param time_week_ms [ms] GPS time (from start of GPS week)
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* @param time_week GPS week number
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* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL). Positive for up.
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* @param hdop [m] GPS HDOP horizontal dilution of position
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* @param vdop [m] GPS VDOP vertical dilution of position
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* @param vn [m/s] GPS velocity in north direction in earth-fixed NED frame
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* @param ve [m/s] GPS velocity in east direction in earth-fixed NED frame
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* @param vd [m/s] GPS velocity in down direction in earth-fixed NED frame
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* @param speed_accuracy [m/s] GPS speed accuracy
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* @param horiz_accuracy [m] GPS horizontal accuracy
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* @param vert_accuracy [m] GPS vertical accuracy
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* @param satellites_visible Number of satellites visible.
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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_input_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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uint64_t time_usec,uint8_t gps_id,uint16_t ignore_flags,uint32_t time_week_ms,uint16_t time_week,uint8_t fix_type,int32_t lat,int32_t lon,float alt,float hdop,float vdop,float vn,float ve,float vd,float speed_accuracy,float horiz_accuracy,float vert_accuracy,uint8_t satellites_visible)
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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_INPUT_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, time_week_ms);
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_mav_put_int32_t(buf, 12, lat);
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_mav_put_int32_t(buf, 16, lon);
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_mav_put_float(buf, 20, alt);
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_mav_put_float(buf, 24, hdop);
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_mav_put_float(buf, 28, vdop);
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_mav_put_float(buf, 32, vn);
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_mav_put_float(buf, 36, ve);
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_mav_put_float(buf, 40, vd);
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_mav_put_float(buf, 44, speed_accuracy);
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_mav_put_float(buf, 48, horiz_accuracy);
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_mav_put_float(buf, 52, vert_accuracy);
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_mav_put_uint16_t(buf, 56, ignore_flags);
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_mav_put_uint16_t(buf, 58, time_week);
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_mav_put_uint8_t(buf, 60, gps_id);
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_mav_put_uint8_t(buf, 61, fix_type);
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_mav_put_uint8_t(buf, 62, satellites_visible);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INPUT_LEN);
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#else
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mavlink_gps_input_t packet;
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packet.time_usec = time_usec;
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packet.time_week_ms = time_week_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.hdop = hdop;
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packet.vdop = vdop;
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packet.vn = vn;
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packet.ve = ve;
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packet.vd = vd;
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packet.speed_accuracy = speed_accuracy;
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packet.horiz_accuracy = horiz_accuracy;
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packet.vert_accuracy = vert_accuracy;
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packet.ignore_flags = ignore_flags;
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packet.time_week = time_week;
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packet.gps_id = gps_id;
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packet.fix_type = fix_type;
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packet.satellites_visible = satellites_visible;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INPUT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_INPUT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
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}
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/**
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* @brief Encode a gps_input 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_input C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_input_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_input_t* gps_input)
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{
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return mavlink_msg_gps_input_pack(system_id, component_id, msg, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible);
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}
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/**
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* @brief Encode a gps_input 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_input C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_input_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_input_t* gps_input)
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{
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return mavlink_msg_gps_input_pack_chan(system_id, component_id, chan, msg, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible);
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}
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/**
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* @brief Send a gps_input message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param gps_id ID of the GPS for multiple GPS inputs
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* @param ignore_flags Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
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* @param time_week_ms [ms] GPS time (from start of GPS week)
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* @param time_week GPS week number
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* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL). Positive for up.
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* @param hdop [m] GPS HDOP horizontal dilution of position
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* @param vdop [m] GPS VDOP vertical dilution of position
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* @param vn [m/s] GPS velocity in north direction in earth-fixed NED frame
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* @param ve [m/s] GPS velocity in east direction in earth-fixed NED frame
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|
* @param vd [m/s] GPS velocity in down direction in earth-fixed NED frame
|
|
* @param speed_accuracy [m/s] GPS speed accuracy
|
|
* @param horiz_accuracy [m] GPS horizontal accuracy
|
|
* @param vert_accuracy [m] GPS vertical accuracy
|
|
* @param satellites_visible Number of satellites visible.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_gps_input_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_GPS_INPUT_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_uint32_t(buf, 8, time_week_ms);
|
|
_mav_put_int32_t(buf, 12, lat);
|
|
_mav_put_int32_t(buf, 16, lon);
|
|
_mav_put_float(buf, 20, alt);
|
|
_mav_put_float(buf, 24, hdop);
|
|
_mav_put_float(buf, 28, vdop);
|
|
_mav_put_float(buf, 32, vn);
|
|
_mav_put_float(buf, 36, ve);
|
|
_mav_put_float(buf, 40, vd);
|
|
_mav_put_float(buf, 44, speed_accuracy);
|
|
_mav_put_float(buf, 48, horiz_accuracy);
|
|
_mav_put_float(buf, 52, vert_accuracy);
|
|
_mav_put_uint16_t(buf, 56, ignore_flags);
|
|
_mav_put_uint16_t(buf, 58, time_week);
|
|
_mav_put_uint8_t(buf, 60, gps_id);
|
|
_mav_put_uint8_t(buf, 61, fix_type);
|
|
_mav_put_uint8_t(buf, 62, satellites_visible);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, buf, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
|
|
#else
|
|
mavlink_gps_input_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.time_week_ms = time_week_ms;
|
|
packet.lat = lat;
|
|
packet.lon = lon;
|
|
packet.alt = alt;
|
|
packet.hdop = hdop;
|
|
packet.vdop = vdop;
|
|
packet.vn = vn;
|
|
packet.ve = ve;
|
|
packet.vd = vd;
|
|
packet.speed_accuracy = speed_accuracy;
|
|
packet.horiz_accuracy = horiz_accuracy;
|
|
packet.vert_accuracy = vert_accuracy;
|
|
packet.ignore_flags = ignore_flags;
|
|
packet.time_week = time_week;
|
|
packet.gps_id = gps_id;
|
|
packet.fix_type = fix_type;
|
|
packet.satellites_visible = satellites_visible;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)&packet, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a gps_input message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_gps_input_send_struct(mavlink_channel_t chan, const mavlink_gps_input_t* gps_input)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_gps_input_send(chan, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)gps_input, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_GPS_INPUT_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_gps_input_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_uint32_t(buf, 8, time_week_ms);
|
|
_mav_put_int32_t(buf, 12, lat);
|
|
_mav_put_int32_t(buf, 16, lon);
|
|
_mav_put_float(buf, 20, alt);
|
|
_mav_put_float(buf, 24, hdop);
|
|
_mav_put_float(buf, 28, vdop);
|
|
_mav_put_float(buf, 32, vn);
|
|
_mav_put_float(buf, 36, ve);
|
|
_mav_put_float(buf, 40, vd);
|
|
_mav_put_float(buf, 44, speed_accuracy);
|
|
_mav_put_float(buf, 48, horiz_accuracy);
|
|
_mav_put_float(buf, 52, vert_accuracy);
|
|
_mav_put_uint16_t(buf, 56, ignore_flags);
|
|
_mav_put_uint16_t(buf, 58, time_week);
|
|
_mav_put_uint8_t(buf, 60, gps_id);
|
|
_mav_put_uint8_t(buf, 61, fix_type);
|
|
_mav_put_uint8_t(buf, 62, satellites_visible);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, buf, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
|
|
#else
|
|
mavlink_gps_input_t *packet = (mavlink_gps_input_t *)msgbuf;
|
|
packet->time_usec = time_usec;
|
|
packet->time_week_ms = time_week_ms;
|
|
packet->lat = lat;
|
|
packet->lon = lon;
|
|
packet->alt = alt;
|
|
packet->hdop = hdop;
|
|
packet->vdop = vdop;
|
|
packet->vn = vn;
|
|
packet->ve = ve;
|
|
packet->vd = vd;
|
|
packet->speed_accuracy = speed_accuracy;
|
|
packet->horiz_accuracy = horiz_accuracy;
|
|
packet->vert_accuracy = vert_accuracy;
|
|
packet->ignore_flags = ignore_flags;
|
|
packet->time_week = time_week;
|
|
packet->gps_id = gps_id;
|
|
packet->fix_type = fix_type;
|
|
packet->satellites_visible = satellites_visible;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)packet, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE GPS_INPUT UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from gps_input message
|
|
*
|
|
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
|
*/
|
|
static inline uint64_t mavlink_msg_gps_input_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gps_id from gps_input message
|
|
*
|
|
* @return ID of the GPS for multiple GPS inputs
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps_input_get_gps_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 60);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ignore_flags from gps_input message
|
|
*
|
|
* @return Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
|
|
*/
|
|
static inline uint16_t mavlink_msg_gps_input_get_ignore_flags(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 56);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field time_week_ms from gps_input message
|
|
*
|
|
* @return [ms] GPS time (from start of GPS week)
|
|
*/
|
|
static inline uint32_t mavlink_msg_gps_input_get_time_week_ms(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field time_week from gps_input message
|
|
*
|
|
* @return GPS week number
|
|
*/
|
|
static inline uint16_t mavlink_msg_gps_input_get_time_week(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 58);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field fix_type from gps_input message
|
|
*
|
|
* @return 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps_input_get_fix_type(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 61);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from gps_input message
|
|
*
|
|
* @return [degE7] Latitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_gps_input_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lon from gps_input message
|
|
*
|
|
* @return [degE7] Longitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_gps_input_get_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt from gps_input message
|
|
*
|
|
* @return [m] Altitude (MSL). Positive for up.
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field hdop from gps_input message
|
|
*
|
|
* @return [m] GPS HDOP horizontal dilution of position
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_hdop(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vdop from gps_input message
|
|
*
|
|
* @return [m] GPS VDOP vertical dilution of position
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_vdop(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vn from gps_input message
|
|
*
|
|
* @return [m/s] GPS velocity in north direction in earth-fixed NED frame
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_vn(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ve from gps_input message
|
|
*
|
|
* @return [m/s] GPS velocity in east direction in earth-fixed NED frame
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_ve(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vd from gps_input message
|
|
*
|
|
* @return [m/s] GPS velocity in down direction in earth-fixed NED frame
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_vd(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field speed_accuracy from gps_input message
|
|
*
|
|
* @return [m/s] GPS speed accuracy
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_speed_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field horiz_accuracy from gps_input message
|
|
*
|
|
* @return [m] GPS horizontal accuracy
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_horiz_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vert_accuracy from gps_input message
|
|
*
|
|
* @return [m] GPS vertical accuracy
|
|
*/
|
|
static inline float mavlink_msg_gps_input_get_vert_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field satellites_visible from gps_input message
|
|
*
|
|
* @return Number of satellites visible.
|
|
*/
|
|
static inline uint8_t mavlink_msg_gps_input_get_satellites_visible(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 62);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a gps_input message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param gps_input C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_gps_input_decode(const mavlink_message_t* msg, mavlink_gps_input_t* gps_input)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
gps_input->time_usec = mavlink_msg_gps_input_get_time_usec(msg);
|
|
gps_input->time_week_ms = mavlink_msg_gps_input_get_time_week_ms(msg);
|
|
gps_input->lat = mavlink_msg_gps_input_get_lat(msg);
|
|
gps_input->lon = mavlink_msg_gps_input_get_lon(msg);
|
|
gps_input->alt = mavlink_msg_gps_input_get_alt(msg);
|
|
gps_input->hdop = mavlink_msg_gps_input_get_hdop(msg);
|
|
gps_input->vdop = mavlink_msg_gps_input_get_vdop(msg);
|
|
gps_input->vn = mavlink_msg_gps_input_get_vn(msg);
|
|
gps_input->ve = mavlink_msg_gps_input_get_ve(msg);
|
|
gps_input->vd = mavlink_msg_gps_input_get_vd(msg);
|
|
gps_input->speed_accuracy = mavlink_msg_gps_input_get_speed_accuracy(msg);
|
|
gps_input->horiz_accuracy = mavlink_msg_gps_input_get_horiz_accuracy(msg);
|
|
gps_input->vert_accuracy = mavlink_msg_gps_input_get_vert_accuracy(msg);
|
|
gps_input->ignore_flags = mavlink_msg_gps_input_get_ignore_flags(msg);
|
|
gps_input->time_week = mavlink_msg_gps_input_get_time_week(msg);
|
|
gps_input->gps_id = mavlink_msg_gps_input_get_gps_id(msg);
|
|
gps_input->fix_type = mavlink_msg_gps_input_get_fix_type(msg);
|
|
gps_input->satellites_visible = mavlink_msg_gps_input_get_satellites_visible(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_INPUT_LEN? msg->len : MAVLINK_MSG_ID_GPS_INPUT_LEN;
|
|
memset(gps_input, 0, MAVLINK_MSG_ID_GPS_INPUT_LEN);
|
|
memcpy(gps_input, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|