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
16 KiB
C
364 lines
16 KiB
C
#pragma once
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// MESSAGE STATUS_GPS PACKING
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#define MAVLINK_MSG_ID_STATUS_GPS 194
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MAVPACKED(
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typedef struct __mavlink_status_gps_t {
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float magVar; /*< [deg] Magnetic variation*/
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uint16_t csFails; /*< Number of times checksum has failed*/
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uint8_t gpsQuality; /*< The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a*/
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uint8_t msgsType; /*< Indicates if GN, GL or GP messages are being received*/
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uint8_t posStatus; /*< A = data valid, V = data invalid*/
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int8_t magDir; /*< Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course*/
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uint8_t modeInd; /*< Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid*/
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}) mavlink_status_gps_t;
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#define MAVLINK_MSG_ID_STATUS_GPS_LEN 11
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#define MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN 11
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#define MAVLINK_MSG_ID_194_LEN 11
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#define MAVLINK_MSG_ID_194_MIN_LEN 11
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#define MAVLINK_MSG_ID_STATUS_GPS_CRC 51
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#define MAVLINK_MSG_ID_194_CRC 51
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_STATUS_GPS { \
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194, \
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"STATUS_GPS", \
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7, \
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{ { "csFails", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_status_gps_t, csFails) }, \
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{ "gpsQuality", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_status_gps_t, gpsQuality) }, \
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{ "msgsType", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_status_gps_t, msgsType) }, \
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{ "posStatus", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_status_gps_t, posStatus) }, \
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{ "magVar", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_status_gps_t, magVar) }, \
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{ "magDir", NULL, MAVLINK_TYPE_INT8_T, 0, 9, offsetof(mavlink_status_gps_t, magDir) }, \
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{ "modeInd", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_status_gps_t, modeInd) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_STATUS_GPS { \
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"STATUS_GPS", \
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7, \
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{ { "csFails", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_status_gps_t, csFails) }, \
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{ "gpsQuality", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_status_gps_t, gpsQuality) }, \
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{ "msgsType", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_status_gps_t, msgsType) }, \
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{ "posStatus", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_status_gps_t, posStatus) }, \
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{ "magVar", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_status_gps_t, magVar) }, \
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{ "magDir", NULL, MAVLINK_TYPE_INT8_T, 0, 9, offsetof(mavlink_status_gps_t, magDir) }, \
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{ "modeInd", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_status_gps_t, modeInd) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a status_gps 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 csFails Number of times checksum has failed
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* @param gpsQuality The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a
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* @param msgsType Indicates if GN, GL or GP messages are being received
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* @param posStatus A = data valid, V = data invalid
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* @param magVar [deg] Magnetic variation
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* @param magDir Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course
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* @param modeInd Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid
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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_status_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t csFails, uint8_t gpsQuality, uint8_t msgsType, uint8_t posStatus, float magVar, int8_t magDir, uint8_t modeInd)
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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_STATUS_GPS_LEN];
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_mav_put_float(buf, 0, magVar);
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_mav_put_uint16_t(buf, 4, csFails);
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_mav_put_uint8_t(buf, 6, gpsQuality);
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_mav_put_uint8_t(buf, 7, msgsType);
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_mav_put_uint8_t(buf, 8, posStatus);
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_mav_put_int8_t(buf, 9, magDir);
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_mav_put_uint8_t(buf, 10, modeInd);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUS_GPS_LEN);
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#else
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mavlink_status_gps_t packet;
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packet.magVar = magVar;
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packet.csFails = csFails;
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packet.gpsQuality = gpsQuality;
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packet.msgsType = msgsType;
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packet.posStatus = posStatus;
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packet.magDir = magDir;
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packet.modeInd = modeInd;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUS_GPS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_STATUS_GPS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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}
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/**
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* @brief Pack a status_gps 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 csFails Number of times checksum has failed
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* @param gpsQuality The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a
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* @param msgsType Indicates if GN, GL or GP messages are being received
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* @param posStatus A = data valid, V = data invalid
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* @param magVar [deg] Magnetic variation
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* @param magDir Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course
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* @param modeInd Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid
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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_status_gps_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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uint16_t csFails,uint8_t gpsQuality,uint8_t msgsType,uint8_t posStatus,float magVar,int8_t magDir,uint8_t modeInd)
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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_STATUS_GPS_LEN];
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_mav_put_float(buf, 0, magVar);
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_mav_put_uint16_t(buf, 4, csFails);
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_mav_put_uint8_t(buf, 6, gpsQuality);
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_mav_put_uint8_t(buf, 7, msgsType);
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_mav_put_uint8_t(buf, 8, posStatus);
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_mav_put_int8_t(buf, 9, magDir);
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_mav_put_uint8_t(buf, 10, modeInd);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUS_GPS_LEN);
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#else
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mavlink_status_gps_t packet;
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packet.magVar = magVar;
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packet.csFails = csFails;
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packet.gpsQuality = gpsQuality;
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packet.msgsType = msgsType;
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packet.posStatus = posStatus;
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packet.magDir = magDir;
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packet.modeInd = modeInd;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUS_GPS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_STATUS_GPS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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}
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/**
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* @brief Encode a status_gps 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 status_gps C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_status_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_status_gps_t* status_gps)
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{
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return mavlink_msg_status_gps_pack(system_id, component_id, msg, status_gps->csFails, status_gps->gpsQuality, status_gps->msgsType, status_gps->posStatus, status_gps->magVar, status_gps->magDir, status_gps->modeInd);
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}
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/**
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* @brief Encode a status_gps 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 status_gps C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_status_gps_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_status_gps_t* status_gps)
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{
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return mavlink_msg_status_gps_pack_chan(system_id, component_id, chan, msg, status_gps->csFails, status_gps->gpsQuality, status_gps->msgsType, status_gps->posStatus, status_gps->magVar, status_gps->magDir, status_gps->modeInd);
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}
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/**
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* @brief Send a status_gps message
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* @param chan MAVLink channel to send the message
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*
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* @param csFails Number of times checksum has failed
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* @param gpsQuality The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a
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* @param msgsType Indicates if GN, GL or GP messages are being received
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* @param posStatus A = data valid, V = data invalid
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* @param magVar [deg] Magnetic variation
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* @param magDir Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course
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* @param modeInd Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_status_gps_send(mavlink_channel_t chan, uint16_t csFails, uint8_t gpsQuality, uint8_t msgsType, uint8_t posStatus, float magVar, int8_t magDir, uint8_t modeInd)
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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_STATUS_GPS_LEN];
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_mav_put_float(buf, 0, magVar);
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_mav_put_uint16_t(buf, 4, csFails);
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_mav_put_uint8_t(buf, 6, gpsQuality);
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_mav_put_uint8_t(buf, 7, msgsType);
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_mav_put_uint8_t(buf, 8, posStatus);
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_mav_put_int8_t(buf, 9, magDir);
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_mav_put_uint8_t(buf, 10, modeInd);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUS_GPS, buf, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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#else
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mavlink_status_gps_t packet;
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packet.magVar = magVar;
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packet.csFails = csFails;
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packet.gpsQuality = gpsQuality;
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packet.msgsType = msgsType;
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packet.posStatus = posStatus;
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packet.magDir = magDir;
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packet.modeInd = modeInd;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUS_GPS, (const char *)&packet, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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#endif
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}
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/**
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* @brief Send a status_gps 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_status_gps_send_struct(mavlink_channel_t chan, const mavlink_status_gps_t* status_gps)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_status_gps_send(chan, status_gps->csFails, status_gps->gpsQuality, status_gps->msgsType, status_gps->posStatus, status_gps->magVar, status_gps->magDir, status_gps->modeInd);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUS_GPS, (const char *)status_gps, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_STATUS_GPS_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_status_gps_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t csFails, uint8_t gpsQuality, uint8_t msgsType, uint8_t posStatus, float magVar, int8_t magDir, uint8_t modeInd)
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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_float(buf, 0, magVar);
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_mav_put_uint16_t(buf, 4, csFails);
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_mav_put_uint8_t(buf, 6, gpsQuality);
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_mav_put_uint8_t(buf, 7, msgsType);
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_mav_put_uint8_t(buf, 8, posStatus);
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_mav_put_int8_t(buf, 9, magDir);
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_mav_put_uint8_t(buf, 10, modeInd);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUS_GPS, buf, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_CRC);
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#else
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mavlink_status_gps_t *packet = (mavlink_status_gps_t *)msgbuf;
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packet->magVar = magVar;
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packet->csFails = csFails;
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packet->gpsQuality = gpsQuality;
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packet->msgsType = msgsType;
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packet->posStatus = posStatus;
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packet->magDir = magDir;
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packet->modeInd = modeInd;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUS_GPS, (const char *)packet, MAVLINK_MSG_ID_STATUS_GPS_MIN_LEN, MAVLINK_MSG_ID_STATUS_GPS_LEN, MAVLINK_MSG_ID_STATUS_GPS_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 STATUS_GPS UNPACKING
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/**
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* @brief Get field csFails from status_gps message
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*
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* @return Number of times checksum has failed
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*/
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static inline uint16_t mavlink_msg_status_gps_get_csFails(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 4);
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}
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/**
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* @brief Get field gpsQuality from status_gps message
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*
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* @return The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a
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*/
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static inline uint8_t mavlink_msg_status_gps_get_gpsQuality(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field msgsType from status_gps message
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*
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* @return Indicates if GN, GL or GP messages are being received
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*/
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static inline uint8_t mavlink_msg_status_gps_get_msgsType(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Get field posStatus from status_gps message
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*
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* @return A = data valid, V = data invalid
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*/
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static inline uint8_t mavlink_msg_status_gps_get_posStatus(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field magVar from status_gps message
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*
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* @return [deg] Magnetic variation
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*/
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static inline float mavlink_msg_status_gps_get_magVar(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field magDir from status_gps message
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*
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* @return Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course
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*/
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static inline int8_t mavlink_msg_status_gps_get_magDir(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int8_t(msg, 9);
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}
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/**
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* @brief Get field modeInd from status_gps message
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*
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* @return Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid
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*/
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static inline uint8_t mavlink_msg_status_gps_get_modeInd(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 10);
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}
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/**
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* @brief Decode a status_gps message into a struct
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*
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* @param msg The message to decode
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* @param status_gps C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_status_gps_decode(const mavlink_message_t* msg, mavlink_status_gps_t* status_gps)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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status_gps->magVar = mavlink_msg_status_gps_get_magVar(msg);
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status_gps->csFails = mavlink_msg_status_gps_get_csFails(msg);
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status_gps->gpsQuality = mavlink_msg_status_gps_get_gpsQuality(msg);
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status_gps->msgsType = mavlink_msg_status_gps_get_msgsType(msg);
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status_gps->posStatus = mavlink_msg_status_gps_get_posStatus(msg);
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status_gps->magDir = mavlink_msg_status_gps_get_magDir(msg);
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status_gps->modeInd = mavlink_msg_status_gps_get_modeInd(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_STATUS_GPS_LEN? msg->len : MAVLINK_MSG_ID_STATUS_GPS_LEN;
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memset(status_gps, 0, MAVLINK_MSG_ID_STATUS_GPS_LEN);
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memcpy(status_gps, _MAV_PAYLOAD(msg), len);
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#endif
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}
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