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
335 lines
17 KiB
C
335 lines
17 KiB
C
#pragma once
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// MESSAGE GPS_STATUS PACKING
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#define MAVLINK_MSG_ID_GPS_STATUS 25
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MAVPACKED(
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typedef struct __mavlink_gps_status_t {
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uint8_t satellites_visible; /*< Number of satellites visible*/
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uint8_t satellite_prn[20]; /*< Global satellite ID*/
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uint8_t satellite_used[20]; /*< 0: Satellite not used, 1: used for localization*/
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uint8_t satellite_elevation[20]; /*< [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite*/
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uint8_t satellite_azimuth[20]; /*< [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.*/
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uint8_t satellite_snr[20]; /*< [dB] Signal to noise ratio of satellite*/
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}) mavlink_gps_status_t;
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#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
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#define MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN 101
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#define MAVLINK_MSG_ID_25_LEN 101
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#define MAVLINK_MSG_ID_25_MIN_LEN 101
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#define MAVLINK_MSG_ID_GPS_STATUS_CRC 23
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#define MAVLINK_MSG_ID_25_CRC 23
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
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25, \
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"GPS_STATUS", \
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6, \
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{ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
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{ "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
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{ "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
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{ "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
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{ "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
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{ "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
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"GPS_STATUS", \
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6, \
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{ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
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{ "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
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{ "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
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{ "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
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{ "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
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{ "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
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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_status 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 satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr [dB] Signal to noise ratio of satellite
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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_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
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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_STATUS_LEN];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
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_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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}
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/**
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* @brief Pack a gps_status 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 satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr [dB] Signal to noise ratio of satellite
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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_status_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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uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
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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_STATUS_LEN];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
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_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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}
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/**
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* @brief Encode a gps_status 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_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
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{
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return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
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}
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/**
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* @brief Encode a gps_status 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_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gps_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
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{
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return mavlink_msg_gps_status_pack_chan(system_id, component_id, chan, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
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}
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/**
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* @brief Send a gps_status message
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* @param chan MAVLink channel to send the message
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*
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* @param satellites_visible Number of satellites visible
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* @param satellite_prn Global satellite ID
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* @param satellite_used 0: Satellite not used, 1: used for localization
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* @param satellite_elevation [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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* @param satellite_azimuth [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
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* @param satellite_snr [dB] Signal to noise ratio of satellite
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
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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_STATUS_LEN];
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_mav_put_uint8_t(buf, 0, satellites_visible);
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_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
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_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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#else
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mavlink_gps_status_t packet;
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packet.satellites_visible = satellites_visible;
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mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
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mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a gps_status 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_status_send_struct(mavlink_channel_t chan, const mavlink_gps_status_t* gps_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_gps_status_send(chan, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)gps_status, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GPS_STATUS_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_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
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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_uint8_t(buf, 0, satellites_visible);
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_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
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_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
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_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
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_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
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_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
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#else
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mavlink_gps_status_t *packet = (mavlink_gps_status_t *)msgbuf;
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packet->satellites_visible = satellites_visible;
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mav_array_memcpy(packet->satellite_prn, satellite_prn, sizeof(uint8_t)*20);
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mav_array_memcpy(packet->satellite_used, satellite_used, sizeof(uint8_t)*20);
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mav_array_memcpy(packet->satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
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mav_array_memcpy(packet->satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
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mav_array_memcpy(packet->satellite_snr, satellite_snr, sizeof(uint8_t)*20);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_MIN_LEN, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_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_STATUS UNPACKING
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/**
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* @brief Get field satellites_visible from gps_status message
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*
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* @return Number of satellites visible
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*/
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static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Get field satellite_prn from gps_status message
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*
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* @return Global satellite ID
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
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{
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return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20, 1);
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}
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/**
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* @brief Get field satellite_used from gps_status message
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*
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* @return 0: Satellite not used, 1: used for localization
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
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{
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return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20, 21);
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}
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/**
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* @brief Get field satellite_elevation from gps_status message
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*
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* @return [deg] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
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{
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return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20, 41);
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}
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/**
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* @brief Get field satellite_azimuth from gps_status message
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*
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* @return [deg] Direction of satellite, 0: 0 deg, 255: 360 deg.
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
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{
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return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20, 61);
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}
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/**
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* @brief Get field satellite_snr from gps_status message
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*
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* @return [dB] Signal to noise ratio of satellite
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*/
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static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
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{
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return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20, 81);
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}
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/**
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* @brief Decode a gps_status message into a struct
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*
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* @param msg The message to decode
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* @param gps_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
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mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
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mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
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mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
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mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
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mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_GPS_STATUS_LEN;
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memset(gps_status, 0, MAVLINK_MSG_ID_GPS_STATUS_LEN);
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memcpy(gps_status, _MAV_PAYLOAD(msg), len);
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#endif
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}
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