You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
210 lines
8.6 KiB
210 lines
8.6 KiB
// MESSAGE GLOBAL_POSITION_INT PACKING |
|
|
|
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73 |
|
|
|
typedef struct __mavlink_global_position_int_t |
|
{ |
|
int32_t lat; ///< Latitude, expressed as * 1E7 |
|
int32_t lon; ///< Longitude, expressed as * 1E7 |
|
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) |
|
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 |
|
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 |
|
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 |
|
|
|
} mavlink_global_position_int_t; |
|
|
|
|
|
|
|
/** |
|
* @brief Pack a global_position_int message |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param msg The MAVLink message to compress the data into |
|
* |
|
* @param lat Latitude, expressed as * 1E7 |
|
* @param lon Longitude, expressed as * 1E7 |
|
* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
|
* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
|
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
|
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
|
* @return length of the message in bytes (excluding serial stream start sign) |
|
*/ |
|
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) |
|
{ |
|
uint16_t i = 0; |
|
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
|
|
|
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 |
|
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 |
|
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) |
|
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 |
|
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 |
|
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 |
|
|
|
return mavlink_finalize_message(msg, system_id, component_id, i); |
|
} |
|
|
|
/** |
|
* @brief Pack a global_position_int message |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param chan The MAVLink channel this message was sent over |
|
* @param msg The MAVLink message to compress the data into |
|
* @param lat Latitude, expressed as * 1E7 |
|
* @param lon Longitude, expressed as * 1E7 |
|
* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
|
* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
|
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
|
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
|
* @return length of the message in bytes (excluding serial stream start sign) |
|
*/ |
|
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) |
|
{ |
|
uint16_t i = 0; |
|
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
|
|
|
i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 |
|
i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 |
|
i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) |
|
i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 |
|
i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 |
|
i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 |
|
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
|
} |
|
|
|
/** |
|
* @brief Encode a global_position_int struct into a message |
|
* |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param msg The MAVLink message to compress the data into |
|
* @param global_position_int C-struct to read the message contents from |
|
*/ |
|
static 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) |
|
{ |
|
return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz); |
|
} |
|
|
|
/** |
|
* @brief Send a global_position_int message |
|
* @param chan MAVLink channel to send the message |
|
* |
|
* @param lat Latitude, expressed as * 1E7 |
|
* @param lon Longitude, expressed as * 1E7 |
|
* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
|
* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
|
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
|
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
|
*/ |
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
|
|
|
static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz) |
|
{ |
|
mavlink_message_t msg; |
|
mavlink_msg_global_position_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lat, lon, alt, vx, vy, vz); |
|
mavlink_send_uart(chan, &msg); |
|
} |
|
|
|
#endif |
|
// MESSAGE GLOBAL_POSITION_INT UNPACKING |
|
|
|
/** |
|
* @brief Get field lat from global_position_int message |
|
* |
|
* @return Latitude, expressed as * 1E7 |
|
*/ |
|
static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) |
|
{ |
|
generic_32bit r; |
|
r.b[3] = (msg->payload)[0]; |
|
r.b[2] = (msg->payload)[1]; |
|
r.b[1] = (msg->payload)[2]; |
|
r.b[0] = (msg->payload)[3]; |
|
return (int32_t)r.i; |
|
} |
|
|
|
/** |
|
* @brief Get field lon from global_position_int message |
|
* |
|
* @return Longitude, expressed as * 1E7 |
|
*/ |
|
static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg) |
|
{ |
|
generic_32bit r; |
|
r.b[3] = (msg->payload+sizeof(int32_t))[0]; |
|
r.b[2] = (msg->payload+sizeof(int32_t))[1]; |
|
r.b[1] = (msg->payload+sizeof(int32_t))[2]; |
|
r.b[0] = (msg->payload+sizeof(int32_t))[3]; |
|
return (int32_t)r.i; |
|
} |
|
|
|
/** |
|
* @brief Get field alt from global_position_int message |
|
* |
|
* @return Altitude in meters, expressed as * 1000 (millimeters) |
|
*/ |
|
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) |
|
{ |
|
generic_32bit r; |
|
r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0]; |
|
r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1]; |
|
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2]; |
|
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3]; |
|
return (int32_t)r.i; |
|
} |
|
|
|
/** |
|
* @brief Get field vx from global_position_int message |
|
* |
|
* @return Ground X Speed (Latitude), expressed as m/s * 100 |
|
*/ |
|
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg) |
|
{ |
|
generic_16bit r; |
|
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; |
|
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; |
|
return (int16_t)r.s; |
|
} |
|
|
|
/** |
|
* @brief Get field vy from global_position_int message |
|
* |
|
* @return Ground Y Speed (Longitude), expressed as m/s * 100 |
|
*/ |
|
static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg) |
|
{ |
|
generic_16bit r; |
|
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; |
|
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; |
|
return (int16_t)r.s; |
|
} |
|
|
|
/** |
|
* @brief Get field vz from global_position_int message |
|
* |
|
* @return Ground Z Speed (Altitude), expressed as m/s * 100 |
|
*/ |
|
static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg) |
|
{ |
|
generic_16bit r; |
|
r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
|
r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
|
return (int16_t)r.s; |
|
} |
|
|
|
/** |
|
* @brief Decode a global_position_int message into a struct |
|
* |
|
* @param msg The message to decode |
|
* @param global_position_int C-struct to decode the message contents into |
|
*/ |
|
static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) |
|
{ |
|
global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg); |
|
global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg); |
|
global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg); |
|
global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg); |
|
global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg); |
|
global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg); |
|
}
|
|
|