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
364 lines
15 KiB
C
364 lines
15 KiB
C
#pragma once
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// MESSAGE TERRAIN_REPORT PACKING
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#define MAVLINK_MSG_ID_TERRAIN_REPORT 136
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MAVPACKED(
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typedef struct __mavlink_terrain_report_t {
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int32_t lat; /*< [degE7] Latitude*/
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int32_t lon; /*< [degE7] Longitude*/
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float terrain_height; /*< [m] Terrain height MSL*/
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float current_height; /*< [m] Current vehicle height above lat/lon terrain height*/
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uint16_t spacing; /*< grid spacing (zero if terrain at this location unavailable)*/
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uint16_t pending; /*< Number of 4x4 terrain blocks waiting to be received or read from disk*/
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uint16_t loaded; /*< Number of 4x4 terrain blocks in memory*/
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}) mavlink_terrain_report_t;
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#define MAVLINK_MSG_ID_TERRAIN_REPORT_LEN 22
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#define MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN 22
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#define MAVLINK_MSG_ID_136_LEN 22
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#define MAVLINK_MSG_ID_136_MIN_LEN 22
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#define MAVLINK_MSG_ID_TERRAIN_REPORT_CRC 1
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#define MAVLINK_MSG_ID_136_CRC 1
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
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136, \
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"TERRAIN_REPORT", \
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7, \
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{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
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{ "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
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{ "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
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{ "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
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{ "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
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{ "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
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"TERRAIN_REPORT", \
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7, \
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{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
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{ "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
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{ "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
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{ "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
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{ "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
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{ "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a terrain_report 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 lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param spacing grid spacing (zero if terrain at this location unavailable)
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* @param terrain_height [m] Terrain height MSL
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* @param current_height [m] Current vehicle height above lat/lon terrain height
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* @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
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* @param loaded Number of 4x4 terrain blocks in memory
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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_terrain_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
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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_TERRAIN_REPORT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_float(buf, 8, terrain_height);
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_mav_put_float(buf, 12, current_height);
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_mav_put_uint16_t(buf, 16, spacing);
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_mav_put_uint16_t(buf, 18, pending);
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_mav_put_uint16_t(buf, 20, loaded);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
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#else
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mavlink_terrain_report_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.terrain_height = terrain_height;
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packet.current_height = current_height;
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packet.spacing = spacing;
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packet.pending = pending;
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packet.loaded = loaded;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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}
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/**
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* @brief Pack a terrain_report 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 lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param spacing grid spacing (zero if terrain at this location unavailable)
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* @param terrain_height [m] Terrain height MSL
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* @param current_height [m] Current vehicle height above lat/lon terrain height
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* @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
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* @param loaded Number of 4x4 terrain blocks in memory
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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_terrain_report_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 lat,int32_t lon,uint16_t spacing,float terrain_height,float current_height,uint16_t pending,uint16_t loaded)
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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_TERRAIN_REPORT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_float(buf, 8, terrain_height);
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_mav_put_float(buf, 12, current_height);
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_mav_put_uint16_t(buf, 16, spacing);
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_mav_put_uint16_t(buf, 18, pending);
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_mav_put_uint16_t(buf, 20, loaded);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
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#else
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mavlink_terrain_report_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.terrain_height = terrain_height;
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packet.current_height = current_height;
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packet.spacing = spacing;
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packet.pending = pending;
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packet.loaded = loaded;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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}
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/**
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* @brief Encode a terrain_report 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 terrain_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_terrain_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
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{
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return mavlink_msg_terrain_report_pack(system_id, component_id, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
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}
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/**
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* @brief Encode a terrain_report 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 terrain_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_terrain_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
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{
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return mavlink_msg_terrain_report_pack_chan(system_id, component_id, chan, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
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}
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/**
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* @brief Send a terrain_report message
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* @param chan MAVLink channel to send the message
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*
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param spacing grid spacing (zero if terrain at this location unavailable)
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* @param terrain_height [m] Terrain height MSL
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* @param current_height [m] Current vehicle height above lat/lon terrain height
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* @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
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* @param loaded Number of 4x4 terrain blocks in memory
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_terrain_report_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
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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_TERRAIN_REPORT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_float(buf, 8, terrain_height);
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_mav_put_float(buf, 12, current_height);
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_mav_put_uint16_t(buf, 16, spacing);
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_mav_put_uint16_t(buf, 18, pending);
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_mav_put_uint16_t(buf, 20, loaded);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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#else
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mavlink_terrain_report_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.terrain_height = terrain_height;
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packet.current_height = current_height;
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packet.spacing = spacing;
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packet.pending = pending;
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packet.loaded = loaded;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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#endif
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}
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/**
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* @brief Send a terrain_report 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_terrain_report_send_struct(mavlink_channel_t chan, const mavlink_terrain_report_t* terrain_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_terrain_report_send(chan, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)terrain_report, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_TERRAIN_REPORT_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_terrain_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
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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, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_float(buf, 8, terrain_height);
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_mav_put_float(buf, 12, current_height);
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_mav_put_uint16_t(buf, 16, spacing);
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_mav_put_uint16_t(buf, 18, pending);
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_mav_put_uint16_t(buf, 20, loaded);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
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#else
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mavlink_terrain_report_t *packet = (mavlink_terrain_report_t *)msgbuf;
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packet->lat = lat;
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packet->lon = lon;
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packet->terrain_height = terrain_height;
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packet->current_height = current_height;
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packet->spacing = spacing;
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packet->pending = pending;
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packet->loaded = loaded;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_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 TERRAIN_REPORT UNPACKING
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/**
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* @brief Get field lat from terrain_report message
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*
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* @return [degE7] Latitude
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*/
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static inline int32_t mavlink_msg_terrain_report_get_lat(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 lon from terrain_report message
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*
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* @return [degE7] Longitude
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*/
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static inline int32_t mavlink_msg_terrain_report_get_lon(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 spacing from terrain_report message
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*
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* @return grid spacing (zero if terrain at this location unavailable)
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*/
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static inline uint16_t mavlink_msg_terrain_report_get_spacing(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 16);
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}
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/**
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* @brief Get field terrain_height from terrain_report message
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*
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* @return [m] Terrain height MSL
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*/
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static inline float mavlink_msg_terrain_report_get_terrain_height(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field current_height from terrain_report message
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*
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* @return [m] Current vehicle height above lat/lon terrain height
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*/
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static inline float mavlink_msg_terrain_report_get_current_height(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field pending from terrain_report message
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*
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* @return Number of 4x4 terrain blocks waiting to be received or read from disk
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*/
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static inline uint16_t mavlink_msg_terrain_report_get_pending(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 18);
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}
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/**
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* @brief Get field loaded from terrain_report message
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*
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* @return Number of 4x4 terrain blocks in memory
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*/
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static inline uint16_t mavlink_msg_terrain_report_get_loaded(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 20);
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}
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/**
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* @brief Decode a terrain_report message into a struct
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*
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* @param msg The message to decode
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* @param terrain_report C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_terrain_report_decode(const mavlink_message_t* msg, mavlink_terrain_report_t* terrain_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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terrain_report->lat = mavlink_msg_terrain_report_get_lat(msg);
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terrain_report->lon = mavlink_msg_terrain_report_get_lon(msg);
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terrain_report->terrain_height = mavlink_msg_terrain_report_get_terrain_height(msg);
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terrain_report->current_height = mavlink_msg_terrain_report_get_current_height(msg);
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terrain_report->spacing = mavlink_msg_terrain_report_get_spacing(msg);
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terrain_report->pending = mavlink_msg_terrain_report_get_pending(msg);
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terrain_report->loaded = mavlink_msg_terrain_report_get_loaded(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_TERRAIN_REPORT_LEN? msg->len : MAVLINK_MSG_ID_TERRAIN_REPORT_LEN;
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memset(terrain_report, 0, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
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memcpy(terrain_report, _MAV_PAYLOAD(msg), len);
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#endif
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}
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