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mavlink_msg_gps_global_origin.h
1#pragma once
2// MESSAGE GPS_GLOBAL_ORIGIN PACKING
3
4#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
5
6MAVPACKED(
7typedef struct __mavlink_gps_global_origin_t {
8 int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
9 int32_t longitude; /*< Longitude (WGS84), in degrees * 1E7*/
10 int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
11 uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
12}) mavlink_gps_global_origin_t;
13
14#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 20
15#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN 12
16#define MAVLINK_MSG_ID_49_LEN 20
17#define MAVLINK_MSG_ID_49_MIN_LEN 12
18
19#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
20#define MAVLINK_MSG_ID_49_CRC 39
21
22
23
24#if MAVLINK_COMMAND_24BIT
25#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
26 49, \
27 "GPS_GLOBAL_ORIGIN", \
28 4, \
29 { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
30 { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
31 { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
32 { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 12, offsetof(mavlink_gps_global_origin_t, time_usec) }, \
33 } \
34}
35#else
36#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
37 "GPS_GLOBAL_ORIGIN", \
38 4, \
39 { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
40 { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
41 { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
42 { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 12, offsetof(mavlink_gps_global_origin_t, time_usec) }, \
43 } \
44}
45#endif
46
59static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
60 int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
61{
62#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
63 char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
64 _mav_put_int32_t(buf, 0, latitude);
65 _mav_put_int32_t(buf, 4, longitude);
66 _mav_put_int32_t(buf, 8, altitude);
67 _mav_put_uint64_t(buf, 12, time_usec);
68
69 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
70#else
71 mavlink_gps_global_origin_t packet;
72 packet.latitude = latitude;
73 packet.longitude = longitude;
74 packet.altitude = altitude;
75 packet.time_usec = time_usec;
76
77 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
78#endif
79
80 msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
81 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
82}
83
96static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
97 mavlink_message_t* msg,
98 int32_t latitude,int32_t longitude,int32_t altitude,uint64_t time_usec)
99{
100#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
101 char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
102 _mav_put_int32_t(buf, 0, latitude);
103 _mav_put_int32_t(buf, 4, longitude);
104 _mav_put_int32_t(buf, 8, altitude);
105 _mav_put_uint64_t(buf, 12, time_usec);
106
107 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
108#else
109 mavlink_gps_global_origin_t packet;
110 packet.latitude = latitude;
111 packet.longitude = longitude;
112 packet.altitude = altitude;
113 packet.time_usec = time_usec;
114
115 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
116#endif
117
118 msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
119 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
120}
121
130static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
131{
132 return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude, gps_global_origin->time_usec);
133}
134
144static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
145{
146 return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude, gps_global_origin->time_usec);
147}
148
158#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
159
160static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
161{
162#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
163 char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
164 _mav_put_int32_t(buf, 0, latitude);
165 _mav_put_int32_t(buf, 4, longitude);
166 _mav_put_int32_t(buf, 8, altitude);
167 _mav_put_uint64_t(buf, 12, time_usec);
168
169 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
170#else
171 mavlink_gps_global_origin_t packet;
172 packet.latitude = latitude;
173 packet.longitude = longitude;
174 packet.altitude = altitude;
175 packet.time_usec = time_usec;
176
177 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
178#endif
179}
180
186static inline void mavlink_msg_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_gps_global_origin_t* gps_global_origin)
187{
188#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
189 mavlink_msg_gps_global_origin_send(chan, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude, gps_global_origin->time_usec);
190#else
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)gps_global_origin, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
192#endif
193}
194
195#if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN
196/*
197 This varient of _send() can be used to save stack space by re-using
198 memory from the receive buffer. The caller provides a
199 mavlink_message_t which is the size of a full mavlink message. This
200 is usually the receive buffer for the channel, and allows a reply to an
201 incoming message with minimum stack space usage.
202 */
203static inline void mavlink_msg_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
204{
205#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
206 char *buf = (char *)msgbuf;
207 _mav_put_int32_t(buf, 0, latitude);
208 _mav_put_int32_t(buf, 4, longitude);
209 _mav_put_int32_t(buf, 8, altitude);
210 _mav_put_uint64_t(buf, 12, time_usec);
211
212 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
213#else
214 mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf;
215 packet->latitude = latitude;
216 packet->longitude = longitude;
217 packet->altitude = altitude;
218 packet->time_usec = time_usec;
219
220 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
221#endif
222}
223#endif
224
225#endif
226
227// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
228
229
235static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
236{
237 return _MAV_RETURN_int32_t(msg, 0);
238}
239
245static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
246{
247 return _MAV_RETURN_int32_t(msg, 4);
248}
249
255static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
256{
257 return _MAV_RETURN_int32_t(msg, 8);
258}
259
265static inline uint64_t mavlink_msg_gps_global_origin_get_time_usec(const mavlink_message_t* msg)
266{
267 return _MAV_RETURN_uint64_t(msg, 12);
268}
269
276static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
277{
278#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
279 gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
280 gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
281 gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
282 gps_global_origin->time_usec = mavlink_msg_gps_global_origin_get_time_usec(msg);
283#else
284 uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN;
285 memset(gps_global_origin, 0, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
286 memcpy(gps_global_origin, _MAV_PAYLOAD(msg), len);
287#endif
288}
制作者 doxygen 1.11.0