RflySimSDK v3.05
RflySimSDK说明文档
载入中...
搜索中...
未找到
mavlink_msg_global_position_int.h
1#pragma once
2// MESSAGE GLOBAL_POSITION_INT PACKING
3
4#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
5
6MAVPACKED(
7typedef struct __mavlink_global_position_int_t {
8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
9 int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
10 int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
11 int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)*/
12 int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
13 int16_t vx; /*< Ground X Speed (Latitude, positive north), expressed as m/s * 100*/
14 int16_t vy; /*< Ground Y Speed (Longitude, positive east), expressed as m/s * 100*/
15 int16_t vz; /*< Ground Z Speed (Altitude, positive down), expressed as m/s * 100*/
16 uint16_t hdg; /*< Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
17}) mavlink_global_position_int_t;
18
19#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
20#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
21#define MAVLINK_MSG_ID_33_LEN 28
22#define MAVLINK_MSG_ID_33_MIN_LEN 28
23
24#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
25#define MAVLINK_MSG_ID_33_CRC 104
26
27
28
29#if MAVLINK_COMMAND_24BIT
30#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
31 33, \
32 "GLOBAL_POSITION_INT", \
33 9, \
34 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
35 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
36 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
37 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
38 { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
39 { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
40 { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
41 { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
42 { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
43 } \
44}
45#else
46#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
47 "GLOBAL_POSITION_INT", \
48 9, \
49 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
50 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
51 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
52 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
53 { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
54 { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
55 { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
56 { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
57 { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
58 } \
59}
60#endif
61
79static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
80 uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
81{
82#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
83 char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
84 _mav_put_uint32_t(buf, 0, time_boot_ms);
85 _mav_put_int32_t(buf, 4, lat);
86 _mav_put_int32_t(buf, 8, lon);
87 _mav_put_int32_t(buf, 12, alt);
88 _mav_put_int32_t(buf, 16, relative_alt);
89 _mav_put_int16_t(buf, 20, vx);
90 _mav_put_int16_t(buf, 22, vy);
91 _mav_put_int16_t(buf, 24, vz);
92 _mav_put_uint16_t(buf, 26, hdg);
93
94 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
95#else
96 mavlink_global_position_int_t packet;
97 packet.time_boot_ms = time_boot_ms;
98 packet.lat = lat;
99 packet.lon = lon;
100 packet.alt = alt;
101 packet.relative_alt = relative_alt;
102 packet.vx = vx;
103 packet.vy = vy;
104 packet.vz = vz;
105 packet.hdg = hdg;
106
107 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
108#endif
109
110 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
111 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
112}
113
131static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
132 mavlink_message_t* msg,
133 uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
134{
135#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
136 char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
137 _mav_put_uint32_t(buf, 0, time_boot_ms);
138 _mav_put_int32_t(buf, 4, lat);
139 _mav_put_int32_t(buf, 8, lon);
140 _mav_put_int32_t(buf, 12, alt);
141 _mav_put_int32_t(buf, 16, relative_alt);
142 _mav_put_int16_t(buf, 20, vx);
143 _mav_put_int16_t(buf, 22, vy);
144 _mav_put_int16_t(buf, 24, vz);
145 _mav_put_uint16_t(buf, 26, hdg);
146
147 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
148#else
149 mavlink_global_position_int_t packet;
150 packet.time_boot_ms = time_boot_ms;
151 packet.lat = lat;
152 packet.lon = lon;
153 packet.alt = alt;
154 packet.relative_alt = relative_alt;
155 packet.vx = vx;
156 packet.vy = vy;
157 packet.vz = vz;
158 packet.hdg = hdg;
159
160 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
161#endif
162
163 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
164 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
165}
166
175static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
176{
177 return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
178}
179
189static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
190{
191 return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
192}
193
208#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
209
210static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
211{
212#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
213 char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
214 _mav_put_uint32_t(buf, 0, time_boot_ms);
215 _mav_put_int32_t(buf, 4, lat);
216 _mav_put_int32_t(buf, 8, lon);
217 _mav_put_int32_t(buf, 12, alt);
218 _mav_put_int32_t(buf, 16, relative_alt);
219 _mav_put_int16_t(buf, 20, vx);
220 _mav_put_int16_t(buf, 22, vy);
221 _mav_put_int16_t(buf, 24, vz);
222 _mav_put_uint16_t(buf, 26, hdg);
223
224 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
225#else
226 mavlink_global_position_int_t packet;
227 packet.time_boot_ms = time_boot_ms;
228 packet.lat = lat;
229 packet.lon = lon;
230 packet.alt = alt;
231 packet.relative_alt = relative_alt;
232 packet.vx = vx;
233 packet.vy = vy;
234 packet.vz = vz;
235 packet.hdg = hdg;
236
237 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
238#endif
239}
240
246static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
247{
248#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
249 mavlink_msg_global_position_int_send(chan, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
250#else
251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
252#endif
253}
254
255#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
256/*
257 This varient of _send() can be used to save stack space by re-using
258 memory from the receive buffer. The caller provides a
259 mavlink_message_t which is the size of a full mavlink message. This
260 is usually the receive buffer for the channel, and allows a reply to an
261 incoming message with minimum stack space usage.
262 */
263static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
264{
265#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
266 char *buf = (char *)msgbuf;
267 _mav_put_uint32_t(buf, 0, time_boot_ms);
268 _mav_put_int32_t(buf, 4, lat);
269 _mav_put_int32_t(buf, 8, lon);
270 _mav_put_int32_t(buf, 12, alt);
271 _mav_put_int32_t(buf, 16, relative_alt);
272 _mav_put_int16_t(buf, 20, vx);
273 _mav_put_int16_t(buf, 22, vy);
274 _mav_put_int16_t(buf, 24, vz);
275 _mav_put_uint16_t(buf, 26, hdg);
276
277 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
278#else
279 mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
280 packet->time_boot_ms = time_boot_ms;
281 packet->lat = lat;
282 packet->lon = lon;
283 packet->alt = alt;
284 packet->relative_alt = relative_alt;
285 packet->vx = vx;
286 packet->vy = vy;
287 packet->vz = vz;
288 packet->hdg = hdg;
289
290 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
291#endif
292}
293#endif
294
295#endif
296
297// MESSAGE GLOBAL_POSITION_INT UNPACKING
298
299
305static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
306{
307 return _MAV_RETURN_uint32_t(msg, 0);
308}
309
315static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
316{
317 return _MAV_RETURN_int32_t(msg, 4);
318}
319
325static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
326{
327 return _MAV_RETURN_int32_t(msg, 8);
328}
329
335static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
336{
337 return _MAV_RETURN_int32_t(msg, 12);
338}
339
345static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
346{
347 return _MAV_RETURN_int32_t(msg, 16);
348}
349
355static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
356{
357 return _MAV_RETURN_int16_t(msg, 20);
358}
359
365static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
366{
367 return _MAV_RETURN_int16_t(msg, 22);
368}
369
375static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
376{
377 return _MAV_RETURN_int16_t(msg, 24);
378}
379
385static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
386{
387 return _MAV_RETURN_uint16_t(msg, 26);
388}
389
396static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
397{
398#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
399 global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
400 global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
401 global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
402 global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
403 global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
404 global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
405 global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
406 global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
407 global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
408#else
409 uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
410 memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
411 memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
412#endif
413}
制作者 doxygen 1.11.0