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229 lines
11 KiB
229 lines
11 KiB
// MESSAGE GPS_STATUS PACKING |
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#define MAVLINK_MSG_ID_GPS_STATUS 27 |
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#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101 |
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#define MAVLINK_MSG_27_LEN 101 |
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typedef struct __mavlink_gps_status_t |
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{ |
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uint8_t satellites_visible; ///< Number of satellites visible |
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uint8_t satellite_prn[20]; ///< Global satellite ID |
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uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization |
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uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. |
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uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite |
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} mavlink_gps_status_t; |
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 |
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 |
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 |
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 |
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#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 |
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/** |
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* @brief Pack a gps_status message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* |
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* @param satellites_visible Number of satellites visible |
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* @param satellite_prn Global satellite ID |
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* @param satellite_used 0: Satellite not used, 1: used for localization |
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
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* @param satellite_snr Signal to noise ratio of satellite |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t satellites_visible, const uint8_t* satellite_prn, const uint8_t* satellite_used, const uint8_t* satellite_elevation, const uint8_t* satellite_azimuth, const uint8_t* satellite_snr) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; |
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p->satellites_visible = satellites_visible; // uint8_t:Number of satellites visible |
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memcpy(p->satellite_prn, satellite_prn, sizeof(p->satellite_prn)); // uint8_t[20]:Global satellite ID |
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memcpy(p->satellite_used, satellite_used, sizeof(p->satellite_used)); // uint8_t[20]:0: Satellite not used, 1: used for localization |
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memcpy(p->satellite_elevation, satellite_elevation, sizeof(p->satellite_elevation)); // uint8_t[20]:Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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memcpy(p->satellite_azimuth, satellite_azimuth, sizeof(p->satellite_azimuth)); // uint8_t[20]:Direction of satellite, 0: 0 deg, 255: 360 deg. |
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memcpy(p->satellite_snr, satellite_snr, sizeof(p->satellite_snr)); // uint8_t[20]:Signal to noise ratio of satellite |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_LEN); |
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} |
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/** |
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* @brief Pack a gps_status message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param satellites_visible Number of satellites visible |
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* @param satellite_prn Global satellite ID |
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* @param satellite_used 0: Satellite not used, 1: used for localization |
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
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* @param satellite_snr Signal to noise ratio of satellite |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const uint8_t* satellite_prn, const uint8_t* satellite_used, const uint8_t* satellite_elevation, const uint8_t* satellite_azimuth, const uint8_t* satellite_snr) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; |
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p->satellites_visible = satellites_visible; // uint8_t:Number of satellites visible |
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memcpy(p->satellite_prn, satellite_prn, sizeof(p->satellite_prn)); // uint8_t[20]:Global satellite ID |
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memcpy(p->satellite_used, satellite_used, sizeof(p->satellite_used)); // uint8_t[20]:0: Satellite not used, 1: used for localization |
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memcpy(p->satellite_elevation, satellite_elevation, sizeof(p->satellite_elevation)); // uint8_t[20]:Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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memcpy(p->satellite_azimuth, satellite_azimuth, sizeof(p->satellite_azimuth)); // uint8_t[20]:Direction of satellite, 0: 0 deg, 255: 360 deg. |
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memcpy(p->satellite_snr, satellite_snr, sizeof(p->satellite_snr)); // uint8_t[20]:Signal to noise ratio of satellite |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_LEN); |
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} |
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/** |
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* @brief Encode a gps_status struct into a message |
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* |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* @param gps_status C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status) |
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{ |
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return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr); |
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} |
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/** |
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* @brief Send a gps_status message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param satellites_visible Number of satellites visible |
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* @param satellite_prn Global satellite ID |
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* @param satellite_used 0: Satellite not used, 1: used for localization |
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* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
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* @param satellite_snr Signal to noise ratio of satellite |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t* satellite_prn, const uint8_t* satellite_used, const uint8_t* satellite_elevation, const uint8_t* satellite_azimuth, const uint8_t* satellite_snr) |
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{ |
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mavlink_header_t hdr; |
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mavlink_gps_status_t payload; |
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uint16_t checksum; |
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mavlink_gps_status_t *p = &payload; |
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p->satellites_visible = satellites_visible; // uint8_t:Number of satellites visible |
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memcpy(p->satellite_prn, satellite_prn, sizeof(p->satellite_prn)); // uint8_t[20]:Global satellite ID |
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memcpy(p->satellite_used, satellite_used, sizeof(p->satellite_used)); // uint8_t[20]:0: Satellite not used, 1: used for localization |
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memcpy(p->satellite_elevation, satellite_elevation, sizeof(p->satellite_elevation)); // uint8_t[20]:Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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memcpy(p->satellite_azimuth, satellite_azimuth, sizeof(p->satellite_azimuth)); // uint8_t[20]:Direction of satellite, 0: 0 deg, 255: 360 deg. |
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memcpy(p->satellite_snr, satellite_snr, sizeof(p->satellite_snr)); // uint8_t[20]:Signal to noise ratio of satellite |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_GPS_STATUS_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_GPS_STATUS; |
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hdr.sysid = mavlink_system.sysid; |
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hdr.compid = mavlink_system.compid; |
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hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; |
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mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); |
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crc_init(&checksum); |
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checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN); |
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checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len ); |
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hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len); |
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mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES); |
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} |
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#endif |
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// MESSAGE GPS_STATUS UNPACKING |
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/** |
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* @brief Get field satellites_visible from gps_status message |
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* |
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* @return Number of satellites visible |
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*/ |
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static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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return (uint8_t)(p->satellites_visible); |
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} |
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/** |
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* @brief Get field satellite_prn from gps_status message |
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* |
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* @return Global satellite ID |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t* satellite_prn) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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memcpy(satellite_prn, p->satellite_prn, sizeof(p->satellite_prn)); |
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return sizeof(p->satellite_prn); |
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} |
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/** |
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* @brief Get field satellite_used from gps_status message |
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* |
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* @return 0: Satellite not used, 1: used for localization |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t* satellite_used) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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memcpy(satellite_used, p->satellite_used, sizeof(p->satellite_used)); |
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return sizeof(p->satellite_used); |
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} |
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/** |
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* @brief Get field satellite_elevation from gps_status message |
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* |
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* @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t* satellite_elevation) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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memcpy(satellite_elevation, p->satellite_elevation, sizeof(p->satellite_elevation)); |
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return sizeof(p->satellite_elevation); |
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} |
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/** |
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* @brief Get field satellite_azimuth from gps_status message |
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* |
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* @return Direction of satellite, 0: 0 deg, 255: 360 deg. |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t* satellite_azimuth) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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memcpy(satellite_azimuth, p->satellite_azimuth, sizeof(p->satellite_azimuth)); |
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return sizeof(p->satellite_azimuth); |
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} |
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/** |
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* @brief Get field satellite_snr from gps_status message |
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* |
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* @return Signal to noise ratio of satellite |
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*/ |
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static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t* satellite_snr) |
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{ |
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mavlink_gps_status_t *p = (mavlink_gps_status_t *)&msg->payload[0]; |
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memcpy(satellite_snr, p->satellite_snr, sizeof(p->satellite_snr)); |
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return sizeof(p->satellite_snr); |
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} |
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/** |
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* @brief Decode a gps_status message into a struct |
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* |
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* @param msg The message to decode |
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* @param gps_status C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) |
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{ |
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memcpy( gps_status, msg->payload, sizeof(mavlink_gps_status_t)); |
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}
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