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mavlink_msg_gps_rtcm_data.h
1#pragma once
2// MESSAGE GPS_RTCM_DATA PACKING
3
4#define MAVLINK_MSG_ID_GPS_RTCM_DATA 233
5
6MAVPACKED(
7typedef struct __mavlink_gps_rtcm_data_t {
8 uint8_t flags; /*< LSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.*/
9 uint8_t len; /*< data length*/
10 uint8_t data[180]; /*< RTCM message (may be fragmented)*/
11}) mavlink_gps_rtcm_data_t;
12
13#define MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN 182
14#define MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN 182
15#define MAVLINK_MSG_ID_233_LEN 182
16#define MAVLINK_MSG_ID_233_MIN_LEN 182
17
18#define MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC 35
19#define MAVLINK_MSG_ID_233_CRC 35
20
21#define MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN 180
22
23#if MAVLINK_COMMAND_24BIT
24#define MAVLINK_MESSAGE_INFO_GPS_RTCM_DATA { \
25 233, \
26 "GPS_RTCM_DATA", \
27 3, \
28 { { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_rtcm_data_t, flags) }, \
29 { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_rtcm_data_t, len) }, \
30 { "data", NULL, MAVLINK_TYPE_UINT8_T, 180, 2, offsetof(mavlink_gps_rtcm_data_t, data) }, \
31 } \
32}
33#else
34#define MAVLINK_MESSAGE_INFO_GPS_RTCM_DATA { \
35 "GPS_RTCM_DATA", \
36 3, \
37 { { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_rtcm_data_t, flags) }, \
38 { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_rtcm_data_t, len) }, \
39 { "data", NULL, MAVLINK_TYPE_UINT8_T, 180, 2, offsetof(mavlink_gps_rtcm_data_t, data) }, \
40 } \
41}
42#endif
43
55static inline uint16_t mavlink_msg_gps_rtcm_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
56 uint8_t flags, uint8_t len, const uint8_t *data)
57{
58#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
59 char buf[MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN];
60 _mav_put_uint8_t(buf, 0, flags);
61 _mav_put_uint8_t(buf, 1, len);
62 _mav_put_uint8_t_array(buf, 2, data, 180);
63 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN);
64#else
65 mavlink_gps_rtcm_data_t packet;
66 packet.flags = flags;
67 packet.len = len;
68 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*180);
69 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN);
70#endif
71
72 msg->msgid = MAVLINK_MSG_ID_GPS_RTCM_DATA;
73 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
74}
75
87static inline uint16_t mavlink_msg_gps_rtcm_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
88 mavlink_message_t* msg,
89 uint8_t flags,uint8_t len,const uint8_t *data)
90{
91#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
92 char buf[MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN];
93 _mav_put_uint8_t(buf, 0, flags);
94 _mav_put_uint8_t(buf, 1, len);
95 _mav_put_uint8_t_array(buf, 2, data, 180);
96 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN);
97#else
98 mavlink_gps_rtcm_data_t packet;
99 packet.flags = flags;
100 packet.len = len;
101 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*180);
102 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN);
103#endif
104
105 msg->msgid = MAVLINK_MSG_ID_GPS_RTCM_DATA;
106 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
107}
108
117static inline uint16_t mavlink_msg_gps_rtcm_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_rtcm_data_t* gps_rtcm_data)
118{
119 return mavlink_msg_gps_rtcm_data_pack(system_id, component_id, msg, gps_rtcm_data->flags, gps_rtcm_data->len, gps_rtcm_data->data);
120}
121
131static inline uint16_t mavlink_msg_gps_rtcm_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_rtcm_data_t* gps_rtcm_data)
132{
133 return mavlink_msg_gps_rtcm_data_pack_chan(system_id, component_id, chan, msg, gps_rtcm_data->flags, gps_rtcm_data->len, gps_rtcm_data->data);
134}
135
144#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
145
146static inline void mavlink_msg_gps_rtcm_data_send(mavlink_channel_t chan, uint8_t flags, uint8_t len, const uint8_t *data)
147{
148#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
149 char buf[MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN];
150 _mav_put_uint8_t(buf, 0, flags);
151 _mav_put_uint8_t(buf, 1, len);
152 _mav_put_uint8_t_array(buf, 2, data, 180);
153 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTCM_DATA, buf, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
154#else
155 mavlink_gps_rtcm_data_t packet;
156 packet.flags = flags;
157 packet.len = len;
158 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*180);
159 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTCM_DATA, (const char *)&packet, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
160#endif
161}
162
168static inline void mavlink_msg_gps_rtcm_data_send_struct(mavlink_channel_t chan, const mavlink_gps_rtcm_data_t* gps_rtcm_data)
169{
170#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
171 mavlink_msg_gps_rtcm_data_send(chan, gps_rtcm_data->flags, gps_rtcm_data->len, gps_rtcm_data->data);
172#else
173 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTCM_DATA, (const char *)gps_rtcm_data, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
174#endif
175}
176
177#if MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
178/*
179 This varient of _send() can be used to save stack space by re-using
180 memory from the receive buffer. The caller provides a
181 mavlink_message_t which is the size of a full mavlink message. This
182 is usually the receive buffer for the channel, and allows a reply to an
183 incoming message with minimum stack space usage.
184 */
185static inline void mavlink_msg_gps_rtcm_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t flags, uint8_t len, const uint8_t *data)
186{
187#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
188 char *buf = (char *)msgbuf;
189 _mav_put_uint8_t(buf, 0, flags);
190 _mav_put_uint8_t(buf, 1, len);
191 _mav_put_uint8_t_array(buf, 2, data, 180);
192 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTCM_DATA, buf, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
193#else
194 mavlink_gps_rtcm_data_t *packet = (mavlink_gps_rtcm_data_t *)msgbuf;
195 packet->flags = flags;
196 packet->len = len;
197 mav_array_memcpy(packet->data, data, sizeof(uint8_t)*180);
198 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTCM_DATA, (const char *)packet, MAVLINK_MSG_ID_GPS_RTCM_DATA_MIN_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN, MAVLINK_MSG_ID_GPS_RTCM_DATA_CRC);
199#endif
200}
201#endif
202
203#endif
204
205// MESSAGE GPS_RTCM_DATA UNPACKING
206
207
213static inline uint8_t mavlink_msg_gps_rtcm_data_get_flags(const mavlink_message_t* msg)
214{
215 return _MAV_RETURN_uint8_t(msg, 0);
216}
217
223static inline uint8_t mavlink_msg_gps_rtcm_data_get_len(const mavlink_message_t* msg)
224{
225 return _MAV_RETURN_uint8_t(msg, 1);
226}
227
233static inline uint16_t mavlink_msg_gps_rtcm_data_get_data(const mavlink_message_t* msg, uint8_t *data)
234{
235 return _MAV_RETURN_uint8_t_array(msg, data, 180, 2);
236}
237
244static inline void mavlink_msg_gps_rtcm_data_decode(const mavlink_message_t* msg, mavlink_gps_rtcm_data_t* gps_rtcm_data)
245{
246#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
247 gps_rtcm_data->flags = mavlink_msg_gps_rtcm_data_get_flags(msg);
248 gps_rtcm_data->len = mavlink_msg_gps_rtcm_data_get_len(msg);
249 mavlink_msg_gps_rtcm_data_get_data(msg, gps_rtcm_data->data);
250#else
251 uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN? msg->len : MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN;
252 memset(gps_rtcm_data, 0, MAVLINK_MSG_ID_GPS_RTCM_DATA_LEN);
253 memcpy(gps_rtcm_data, _MAV_PAYLOAD(msg), len);
254#endif
255}
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