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242 lines
10 KiB
242 lines
10 KiB
// MESSAGE GLOBAL_POSITION_INT PACKING |
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73 |
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18 |
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#define MAVLINK_MSG_73_LEN 18 |
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typedef struct __mavlink_global_position_int_t |
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{ |
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int32_t lat; ///< Latitude, expressed as * 1E7 |
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int32_t lon; ///< Longitude, expressed as * 1E7 |
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int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) |
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int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 |
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int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 |
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int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 |
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} mavlink_global_position_int_t; |
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/** |
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* @brief Pack a global_position_int 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 lat Latitude, expressed as * 1E7 |
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* @param lon Longitude, expressed as * 1E7 |
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* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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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_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) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
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p->lat = lat; // int32_t:Latitude, expressed as * 1E7 |
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p->lon = lon; // int32_t:Longitude, expressed as * 1E7 |
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p->alt = alt; // int32_t:Altitude in meters, expressed as * 1000 (millimeters) |
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p->vx = vx; // int16_t:Ground X Speed (Latitude), expressed as m/s * 100 |
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p->vy = vy; // int16_t:Ground Y Speed (Longitude), expressed as m/s * 100 |
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p->vz = vz; // int16_t:Ground Z Speed (Altitude), expressed as m/s * 100 |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); |
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} |
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/** |
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* @brief Pack a global_position_int 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 lat Latitude, expressed as * 1E7 |
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* @param lon Longitude, expressed as * 1E7 |
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* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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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_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) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
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p->lat = lat; // int32_t:Latitude, expressed as * 1E7 |
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p->lon = lon; // int32_t:Longitude, expressed as * 1E7 |
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p->alt = alt; // int32_t:Altitude in meters, expressed as * 1000 (millimeters) |
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p->vx = vx; // int16_t:Ground X Speed (Latitude), expressed as m/s * 100 |
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p->vy = vy; // int16_t:Ground Y Speed (Longitude), expressed as m/s * 100 |
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p->vz = vz; // int16_t:Ground Z Speed (Altitude), expressed as m/s * 100 |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN); |
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} |
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/** |
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* @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from |
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*/ |
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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) |
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{ |
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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); |
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} |
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/** |
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* @brief Send a global_position_int message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param lat Latitude, expressed as * 1E7 |
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* @param lon Longitude, expressed as * 1E7 |
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* @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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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) |
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{ |
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mavlink_message_t msg; |
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uint16_t checksum; |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg.payload[0]; |
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p->lat = lat; // int32_t:Latitude, expressed as * 1E7 |
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p->lon = lon; // int32_t:Longitude, expressed as * 1E7 |
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p->alt = alt; // int32_t:Altitude in meters, expressed as * 1000 (millimeters) |
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p->vx = vx; // int16_t:Ground X Speed (Latitude), expressed as m/s * 100 |
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p->vy = vy; // int16_t:Ground Y Speed (Longitude), expressed as m/s * 100 |
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p->vz = vz; // int16_t:Ground Z Speed (Altitude), expressed as m/s * 100 |
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msg.STX = MAVLINK_STX; |
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msg.len = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN; |
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msg.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
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msg.sysid = mavlink_system.sysid; |
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msg.compid = mavlink_system.compid; |
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msg.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1; |
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checksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN); |
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msg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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msg.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_msg(chan, &msg); |
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} |
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#endif |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL |
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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) |
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{ |
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mavlink_header_t hdr; |
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mavlink_global_position_int_t payload; |
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uint16_t checksum; |
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mavlink_global_position_int_t *p = &payload; |
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p->lat = lat; // int32_t:Latitude, expressed as * 1E7 |
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p->lon = lon; // int32_t:Longitude, expressed as * 1E7 |
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p->alt = alt; // int32_t:Altitude in meters, expressed as * 1000 (millimeters) |
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p->vx = vx; // int16_t:Ground X Speed (Latitude), expressed as m/s * 100 |
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p->vy = vy; // int16_t:Ground Y Speed (Longitude), expressed as m/s * 100 |
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p->vz = vz; // int16_t:Ground Z Speed (Altitude), expressed as m/s * 100 |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT; |
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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 GLOBAL_POSITION_INT UNPACKING |
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/** |
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* @brief Get field lat from global_position_int message |
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* |
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* @return Latitude, expressed as * 1E7 |
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*/ |
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static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int32_t)(p->lat); |
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} |
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/** |
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* @brief Get field lon from global_position_int message |
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* |
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* @return Longitude, expressed as * 1E7 |
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*/ |
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static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int32_t)(p->lon); |
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} |
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/** |
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* @brief Get field alt from global_position_int message |
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* |
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* @return Altitude in meters, expressed as * 1000 (millimeters) |
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*/ |
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static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int32_t)(p->alt); |
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} |
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/** |
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* @brief Get field vx from global_position_int message |
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* |
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* @return Ground X Speed (Latitude), expressed as m/s * 100 |
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*/ |
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static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int16_t)(p->vx); |
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} |
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/** |
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* @brief Get field vy from global_position_int message |
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* |
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* @return Ground Y Speed (Longitude), expressed as m/s * 100 |
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*/ |
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static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int16_t)(p->vy); |
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} |
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/** |
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* @brief Get field vz from global_position_int message |
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* |
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* @return Ground Z Speed (Altitude), expressed as m/s * 100 |
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*/ |
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static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg) |
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{ |
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mavlink_global_position_int_t *p = (mavlink_global_position_int_t *)&msg->payload[0]; |
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return (int16_t)(p->vz); |
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} |
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/** |
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* @brief Decode a global_position_int message into a struct |
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* |
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* @param msg The message to decode |
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* @param global_position_int C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int) |
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{ |
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memcpy( global_position_int, msg->payload, sizeof(mavlink_global_position_int_t)); |
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}
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