Diff: MAVlink/include/common/mavlink_msg_global_position.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_global_position.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,242 @@
+// MESSAGE GLOBAL_POSITION PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
+
+typedef struct __mavlink_global_position_t 
+{
+    uint64_t usec; ///< Timestamp (microseconds since unix epoch)
+    float lat; ///< Latitude, in degrees
+    float lon; ///< Longitude, in degrees
+    float alt; ///< Absolute altitude, in meters
+    float vx; ///< X Speed (in Latitude direction, positive: going north)
+    float vy; ///< Y Speed (in Longitude direction, positive: going east)
+    float vz; ///< Z Speed (in Altitude direction, positive: going up)
+
+} mavlink_global_position_t;
+
+
+
+/**
+ * @brief Pack a global_position 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 usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
+
+    i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
+    i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees
+    i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees
+    i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters
+    i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
+    i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
+    i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a global_position 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 usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
+
+    i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
+    i += put_float_by_index(lat, i, msg->payload); // Latitude, in degrees
+    i += put_float_by_index(lon, i, msg->payload); // Longitude, in degrees
+    i += put_float_by_index(alt, i, msg->payload); // Absolute altitude, in meters
+    i += put_float_by_index(vx, i, msg->payload); // X Speed (in Latitude direction, positive: going north)
+    i += put_float_by_index(vy, i, msg->payload); // Y Speed (in Longitude direction, positive: going east)
+    i += put_float_by_index(vz, i, msg->payload); // Z Speed (in Altitude direction, positive: going up)
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a global_position 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 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
+{
+    return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
+}
+
+/**
+ * @brief Send a global_position message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (microseconds since unix epoch)
+ * @param lat Latitude, in degrees
+ * @param lon Longitude, in degrees
+ * @param alt Absolute altitude, in meters
+ * @param vx X Speed (in Latitude direction, positive: going north)
+ * @param vy Y Speed (in Longitude direction, positive: going east)
+ * @param vz Z Speed (in Altitude direction, positive: going up)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
+{
+    mavlink_message_t msg;
+    mavlink_msg_global_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, lat, lon, alt, vx, vy, vz);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE GLOBAL_POSITION UNPACKING
+
+/**
+ * @brief Get field usec from global_position message
+ *
+ * @return Timestamp (microseconds since unix epoch)
+ */
+static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
+{
+    generic_64bit r;
+    r.b[7] = (msg->payload)[0];
+    r.b[6] = (msg->payload)[1];
+    r.b[5] = (msg->payload)[2];
+    r.b[4] = (msg->payload)[3];
+    r.b[3] = (msg->payload)[4];
+    r.b[2] = (msg->payload)[5];
+    r.b[1] = (msg->payload)[6];
+    r.b[0] = (msg->payload)[7];
+    return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field lat from global_position message
+ *
+ * @return Latitude, in degrees
+ */
+static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field lon from global_position message
+ *
+ * @return Longitude, in degrees
+ */
+static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field alt from global_position message
+ *
+ * @return Absolute altitude, in meters
+ */
+static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field vx from global_position message
+ *
+ * @return X Speed (in Latitude direction, positive: going north)
+ */
+static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field vy from global_position message
+ *
+ * @return Y Speed (in Longitude direction, positive: going east)
+ */
+static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Get field vz from global_position message
+ *
+ * @return Z Speed (in Altitude direction, positive: going up)
+ */
+static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
+{
+    generic_32bit r;
+    r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+    r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+    r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+    r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+    return (float)r.f;
+}
+
+/**
+ * @brief Decode a global_position message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_position C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
+{
+    global_position->usec = mavlink_msg_global_position_get_usec(msg);
+    global_position->lat = mavlink_msg_global_position_get_lat(msg);
+    global_position->lon = mavlink_msg_global_position_get_lon(msg);
+    global_position->alt = mavlink_msg_global_position_get_alt(msg);
+    global_position->vx = mavlink_msg_global_position_get_vx(msg);
+    global_position->vy = mavlink_msg_global_position_get_vy(msg);
+    global_position->vz = mavlink_msg_global_position_get_vz(msg);
+}