RflySimSDK v3.05
RflySimSDK说明文档
载入中...
搜索中...
未找到
mavlink_msg_gps2_raw.h
1#pragma once
2// MESSAGE GPS2_RAW PACKING
3
4#define MAVLINK_MSG_ID_GPS2_RAW 124
5
6MAVPACKED(
7typedef struct __mavlink_gps2_raw_t {
8 uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
9 int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
10 int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
11 int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/
12 uint32_t dgps_age; /*< Age of DGPS info*/
13 uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
14 uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
15 uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX*/
16 uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
17 uint8_t fix_type; /*< See the GPS_FIX_TYPE enum.*/
18 uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
19 uint8_t dgps_numch; /*< Number of DGPS satellites*/
20}) mavlink_gps2_raw_t;
21
22#define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
23#define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35
24#define MAVLINK_MSG_ID_124_LEN 35
25#define MAVLINK_MSG_ID_124_MIN_LEN 35
26
27#define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
28#define MAVLINK_MSG_ID_124_CRC 87
29
30
31
32#if MAVLINK_COMMAND_24BIT
33#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
34 124, \
35 "GPS2_RAW", \
36 12, \
37 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
38 { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
39 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
40 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
41 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
42 { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
43 { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
44 { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
45 { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
46 { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
47 { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
48 { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
49 } \
50}
51#else
52#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
53 "GPS2_RAW", \
54 12, \
55 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
56 { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
57 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
58 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
59 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
60 { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
61 { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
62 { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
63 { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
64 { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
65 { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
66 { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
67 } \
68}
69#endif
70
91static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
92 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, uint8_t dgps_numch, uint32_t dgps_age)
93{
94#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
95 char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
96 _mav_put_uint64_t(buf, 0, time_usec);
97 _mav_put_int32_t(buf, 8, lat);
98 _mav_put_int32_t(buf, 12, lon);
99 _mav_put_int32_t(buf, 16, alt);
100 _mav_put_uint32_t(buf, 20, dgps_age);
101 _mav_put_uint16_t(buf, 24, eph);
102 _mav_put_uint16_t(buf, 26, epv);
103 _mav_put_uint16_t(buf, 28, vel);
104 _mav_put_uint16_t(buf, 30, cog);
105 _mav_put_uint8_t(buf, 32, fix_type);
106 _mav_put_uint8_t(buf, 33, satellites_visible);
107 _mav_put_uint8_t(buf, 34, dgps_numch);
108
109 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
110#else
111 mavlink_gps2_raw_t packet;
112 packet.time_usec = time_usec;
113 packet.lat = lat;
114 packet.lon = lon;
115 packet.alt = alt;
116 packet.dgps_age = dgps_age;
117 packet.eph = eph;
118 packet.epv = epv;
119 packet.vel = vel;
120 packet.cog = cog;
121 packet.fix_type = fix_type;
122 packet.satellites_visible = satellites_visible;
123 packet.dgps_numch = dgps_numch;
124
125 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
126#endif
127
128 msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
129 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
130}
131
152static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
153 mavlink_message_t* msg,
154 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,uint8_t dgps_numch,uint32_t dgps_age)
155{
156#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
157 char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
158 _mav_put_uint64_t(buf, 0, time_usec);
159 _mav_put_int32_t(buf, 8, lat);
160 _mav_put_int32_t(buf, 12, lon);
161 _mav_put_int32_t(buf, 16, alt);
162 _mav_put_uint32_t(buf, 20, dgps_age);
163 _mav_put_uint16_t(buf, 24, eph);
164 _mav_put_uint16_t(buf, 26, epv);
165 _mav_put_uint16_t(buf, 28, vel);
166 _mav_put_uint16_t(buf, 30, cog);
167 _mav_put_uint8_t(buf, 32, fix_type);
168 _mav_put_uint8_t(buf, 33, satellites_visible);
169 _mav_put_uint8_t(buf, 34, dgps_numch);
170
171 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
172#else
173 mavlink_gps2_raw_t packet;
174 packet.time_usec = time_usec;
175 packet.lat = lat;
176 packet.lon = lon;
177 packet.alt = alt;
178 packet.dgps_age = dgps_age;
179 packet.eph = eph;
180 packet.epv = epv;
181 packet.vel = vel;
182 packet.cog = cog;
183 packet.fix_type = fix_type;
184 packet.satellites_visible = satellites_visible;
185 packet.dgps_numch = dgps_numch;
186
187 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
188#endif
189
190 msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
191 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
192}
193
202static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
203{
204 return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
205}
206
216static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
217{
218 return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
219}
220
238#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
239
240static inline void mavlink_msg_gps2_raw_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, uint8_t dgps_numch, uint32_t dgps_age)
241{
242#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
243 char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
244 _mav_put_uint64_t(buf, 0, time_usec);
245 _mav_put_int32_t(buf, 8, lat);
246 _mav_put_int32_t(buf, 12, lon);
247 _mav_put_int32_t(buf, 16, alt);
248 _mav_put_uint32_t(buf, 20, dgps_age);
249 _mav_put_uint16_t(buf, 24, eph);
250 _mav_put_uint16_t(buf, 26, epv);
251 _mav_put_uint16_t(buf, 28, vel);
252 _mav_put_uint16_t(buf, 30, cog);
253 _mav_put_uint8_t(buf, 32, fix_type);
254 _mav_put_uint8_t(buf, 33, satellites_visible);
255 _mav_put_uint8_t(buf, 34, dgps_numch);
256
257 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
258#else
259 mavlink_gps2_raw_t packet;
260 packet.time_usec = time_usec;
261 packet.lat = lat;
262 packet.lon = lon;
263 packet.alt = alt;
264 packet.dgps_age = dgps_age;
265 packet.eph = eph;
266 packet.epv = epv;
267 packet.vel = vel;
268 packet.cog = cog;
269 packet.fix_type = fix_type;
270 packet.satellites_visible = satellites_visible;
271 packet.dgps_numch = dgps_numch;
272
273 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
274#endif
275}
276
282static inline void mavlink_msg_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw)
283{
284#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
285 mavlink_msg_gps2_raw_send(chan, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
286#else
287 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)gps2_raw, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
288#endif
289}
290
291#if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
292/*
293 This varient of _send() can be used to save stack space by re-using
294 memory from the receive buffer. The caller provides a
295 mavlink_message_t which is the size of a full mavlink message. This
296 is usually the receive buffer for the channel, and allows a reply to an
297 incoming message with minimum stack space usage.
298 */
299static inline void mavlink_msg_gps2_raw_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, uint8_t dgps_numch, uint32_t dgps_age)
300{
301#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
302 char *buf = (char *)msgbuf;
303 _mav_put_uint64_t(buf, 0, time_usec);
304 _mav_put_int32_t(buf, 8, lat);
305 _mav_put_int32_t(buf, 12, lon);
306 _mav_put_int32_t(buf, 16, alt);
307 _mav_put_uint32_t(buf, 20, dgps_age);
308 _mav_put_uint16_t(buf, 24, eph);
309 _mav_put_uint16_t(buf, 26, epv);
310 _mav_put_uint16_t(buf, 28, vel);
311 _mav_put_uint16_t(buf, 30, cog);
312 _mav_put_uint8_t(buf, 32, fix_type);
313 _mav_put_uint8_t(buf, 33, satellites_visible);
314 _mav_put_uint8_t(buf, 34, dgps_numch);
315
316 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
317#else
318 mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
319 packet->time_usec = time_usec;
320 packet->lat = lat;
321 packet->lon = lon;
322 packet->alt = alt;
323 packet->dgps_age = dgps_age;
324 packet->eph = eph;
325 packet->epv = epv;
326 packet->vel = vel;
327 packet->cog = cog;
328 packet->fix_type = fix_type;
329 packet->satellites_visible = satellites_visible;
330 packet->dgps_numch = dgps_numch;
331
332 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
333#endif
334}
335#endif
336
337#endif
338
339// MESSAGE GPS2_RAW UNPACKING
340
341
347static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
348{
349 return _MAV_RETURN_uint64_t(msg, 0);
350}
351
357static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
358{
359 return _MAV_RETURN_uint8_t(msg, 32);
360}
361
367static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
368{
369 return _MAV_RETURN_int32_t(msg, 8);
370}
371
377static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
378{
379 return _MAV_RETURN_int32_t(msg, 12);
380}
381
387static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
388{
389 return _MAV_RETURN_int32_t(msg, 16);
390}
391
397static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
398{
399 return _MAV_RETURN_uint16_t(msg, 24);
400}
401
407static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
408{
409 return _MAV_RETURN_uint16_t(msg, 26);
410}
411
417static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
418{
419 return _MAV_RETURN_uint16_t(msg, 28);
420}
421
427static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
428{
429 return _MAV_RETURN_uint16_t(msg, 30);
430}
431
437static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
438{
439 return _MAV_RETURN_uint8_t(msg, 33);
440}
441
447static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
448{
449 return _MAV_RETURN_uint8_t(msg, 34);
450}
451
457static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
458{
459 return _MAV_RETURN_uint32_t(msg, 20);
460}
461
468static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
469{
470#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
471 gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
472 gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
473 gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
474 gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
475 gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
476 gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
477 gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
478 gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
479 gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
480 gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
481 gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
482 gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
483#else
484 uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RAW_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RAW_LEN;
485 memset(gps2_raw, 0, MAVLINK_MSG_ID_GPS2_RAW_LEN);
486 memcpy(gps2_raw, _MAV_PAYLOAD(msg), len);
487#endif
488}
制作者 doxygen 1.11.0