00001
00002
00003 #define MAVLINK_MSG_ID_GPS_RAW_INT 24
00004
00005 typedef struct __mavlink_gps_raw_int_t
00006 {
00007 uint64_t time_usec;
00008 int32_t lat;
00009 int32_t lon;
00010 int32_t alt;
00011 uint16_t eph;
00012 uint16_t epv;
00013 uint16_t vel;
00014 uint16_t cog;
00015 uint8_t fix_type;
00016 uint8_t satellites_visible;
00017 } mavlink_gps_raw_int_t;
00018
00019 #define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30
00020 #define MAVLINK_MSG_ID_24_LEN 30
00021
00022 #define MAVLINK_MSG_ID_GPS_RAW_INT_CRC 24
00023 #define MAVLINK_MSG_ID_24_CRC 24
00024
00025
00026
00027 #define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
00028 "GPS_RAW_INT", \
00029 10, \
00030 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \
00031 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \
00032 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \
00033 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \
00034 { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \
00035 { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \
00036 { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \
00037 { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \
00038 { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
00039 { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \
00040 } \
00041 }
00042
00043
00062 static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00063 uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
00064 {
00065 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00066 char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
00067 _mav_put_uint64_t(buf, 0, time_usec);
00068 _mav_put_int32_t(buf, 8, lat);
00069 _mav_put_int32_t(buf, 12, lon);
00070 _mav_put_int32_t(buf, 16, alt);
00071 _mav_put_uint16_t(buf, 20, eph);
00072 _mav_put_uint16_t(buf, 22, epv);
00073 _mav_put_uint16_t(buf, 24, vel);
00074 _mav_put_uint16_t(buf, 26, cog);
00075 _mav_put_uint8_t(buf, 28, fix_type);
00076 _mav_put_uint8_t(buf, 29, satellites_visible);
00077
00078 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00079 #else
00080 mavlink_gps_raw_int_t packet;
00081 packet.time_usec = time_usec;
00082 packet.lat = lat;
00083 packet.lon = lon;
00084 packet.alt = alt;
00085 packet.eph = eph;
00086 packet.epv = epv;
00087 packet.vel = vel;
00088 packet.cog = cog;
00089 packet.fix_type = fix_type;
00090 packet.satellites_visible = satellites_visible;
00091
00092 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00093 #endif
00094
00095 msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
00096 #if MAVLINK_CRC_EXTRA
00097 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00098 #else
00099 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00100 #endif
00101 }
00102
00121 static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00122 mavlink_message_t* msg,
00123 uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible)
00124 {
00125 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00126 char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
00127 _mav_put_uint64_t(buf, 0, time_usec);
00128 _mav_put_int32_t(buf, 8, lat);
00129 _mav_put_int32_t(buf, 12, lon);
00130 _mav_put_int32_t(buf, 16, alt);
00131 _mav_put_uint16_t(buf, 20, eph);
00132 _mav_put_uint16_t(buf, 22, epv);
00133 _mav_put_uint16_t(buf, 24, vel);
00134 _mav_put_uint16_t(buf, 26, cog);
00135 _mav_put_uint8_t(buf, 28, fix_type);
00136 _mav_put_uint8_t(buf, 29, satellites_visible);
00137
00138 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00139 #else
00140 mavlink_gps_raw_int_t packet;
00141 packet.time_usec = time_usec;
00142 packet.lat = lat;
00143 packet.lon = lon;
00144 packet.alt = alt;
00145 packet.eph = eph;
00146 packet.epv = epv;
00147 packet.vel = vel;
00148 packet.cog = cog;
00149 packet.fix_type = fix_type;
00150 packet.satellites_visible = satellites_visible;
00151
00152 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00153 #endif
00154
00155 msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
00156 #if MAVLINK_CRC_EXTRA
00157 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00158 #else
00159 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00160 #endif
00161 }
00162
00171 static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
00172 {
00173 return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
00174 }
00175
00185 static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
00186 {
00187 return mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, chan, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
00188 }
00189
00205 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00206
00207 static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
00208 {
00209 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00210 char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
00211 _mav_put_uint64_t(buf, 0, time_usec);
00212 _mav_put_int32_t(buf, 8, lat);
00213 _mav_put_int32_t(buf, 12, lon);
00214 _mav_put_int32_t(buf, 16, alt);
00215 _mav_put_uint16_t(buf, 20, eph);
00216 _mav_put_uint16_t(buf, 22, epv);
00217 _mav_put_uint16_t(buf, 24, vel);
00218 _mav_put_uint16_t(buf, 26, cog);
00219 _mav_put_uint8_t(buf, 28, fix_type);
00220 _mav_put_uint8_t(buf, 29, satellites_visible);
00221
00222 #if MAVLINK_CRC_EXTRA
00223 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00224 #else
00225 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00226 #endif
00227 #else
00228 mavlink_gps_raw_int_t packet;
00229 packet.time_usec = time_usec;
00230 packet.lat = lat;
00231 packet.lon = lon;
00232 packet.alt = alt;
00233 packet.eph = eph;
00234 packet.epv = epv;
00235 packet.vel = vel;
00236 packet.cog = cog;
00237 packet.fix_type = fix_type;
00238 packet.satellites_visible = satellites_visible;
00239
00240 #if MAVLINK_CRC_EXTRA
00241 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00242 #else
00243 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00244 #endif
00245 #endif
00246 }
00247
00248 #if MAVLINK_MSG_ID_GPS_RAW_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00249
00250
00251
00252
00253
00254
00255
00256 static inline void mavlink_msg_gps_raw_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
00257 {
00258 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00259 char *buf = (char *)msgbuf;
00260 _mav_put_uint64_t(buf, 0, time_usec);
00261 _mav_put_int32_t(buf, 8, lat);
00262 _mav_put_int32_t(buf, 12, lon);
00263 _mav_put_int32_t(buf, 16, alt);
00264 _mav_put_uint16_t(buf, 20, eph);
00265 _mav_put_uint16_t(buf, 22, epv);
00266 _mav_put_uint16_t(buf, 24, vel);
00267 _mav_put_uint16_t(buf, 26, cog);
00268 _mav_put_uint8_t(buf, 28, fix_type);
00269 _mav_put_uint8_t(buf, 29, satellites_visible);
00270
00271 #if MAVLINK_CRC_EXTRA
00272 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00273 #else
00274 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00275 #endif
00276 #else
00277 mavlink_gps_raw_int_t *packet = (mavlink_gps_raw_int_t *)msgbuf;
00278 packet->time_usec = time_usec;
00279 packet->lat = lat;
00280 packet->lon = lon;
00281 packet->alt = alt;
00282 packet->eph = eph;
00283 packet->epv = epv;
00284 packet->vel = vel;
00285 packet->cog = cog;
00286 packet->fix_type = fix_type;
00287 packet->satellites_visible = satellites_visible;
00288
00289 #if MAVLINK_CRC_EXTRA
00290 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
00291 #else
00292 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00293 #endif
00294 #endif
00295 }
00296 #endif
00297
00298 #endif
00299
00300
00301
00302
00308 static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t* msg)
00309 {
00310 return _MAV_RETURN_uint64_t(msg, 0);
00311 }
00312
00318 static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
00319 {
00320 return _MAV_RETURN_uint8_t(msg, 28);
00321 }
00322
00328 static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
00329 {
00330 return _MAV_RETURN_int32_t(msg, 8);
00331 }
00332
00338 static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
00339 {
00340 return _MAV_RETURN_int32_t(msg, 12);
00341 }
00342
00348 static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
00349 {
00350 return _MAV_RETURN_int32_t(msg, 16);
00351 }
00352
00358 static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
00359 {
00360 return _MAV_RETURN_uint16_t(msg, 20);
00361 }
00362
00368 static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
00369 {
00370 return _MAV_RETURN_uint16_t(msg, 22);
00371 }
00372
00378 static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg)
00379 {
00380 return _MAV_RETURN_uint16_t(msg, 24);
00381 }
00382
00388 static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t* msg)
00389 {
00390 return _MAV_RETURN_uint16_t(msg, 26);
00391 }
00392
00398 static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg)
00399 {
00400 return _MAV_RETURN_uint8_t(msg, 29);
00401 }
00402
00409 static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
00410 {
00411 #if MAVLINK_NEED_BYTE_SWAP
00412 gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg);
00413 gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
00414 gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
00415 gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
00416 gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
00417 gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
00418 gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg);
00419 gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg);
00420 gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
00421 gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
00422 #else
00423 memcpy(gps_raw_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
00424 #endif
00425 }