Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/common/mavlink_msg_gps_local_origin_set.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_gps_local_origin_set.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,150 @@ +// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING + +#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49 + +typedef struct __mavlink_gps_local_origin_set_t +{ + int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7 + int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7 + int32_t altitude; ///< Altitude(WGS84), expressed as * 1000 + +} mavlink_gps_local_origin_set_t; + + + +/** + * @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; + + i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 + i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 + i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a gps_local_origin_set 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 latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t latitude, int32_t longitude, int32_t altitude) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET; + + i += put_int32_t_by_index(latitude, i, msg->payload); // Latitude (WGS84), expressed as * 1E7 + i += put_int32_t_by_index(longitude, i, msg->payload); // Longitude (WGS84), expressed as * 1E7 + i += put_int32_t_by_index(altitude, i, msg->payload); // Altitude(WGS84), expressed as * 1000 + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a gps_local_origin_set 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 gps_local_origin_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set) +{ + return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude); +} + +/** + * @brief Send a gps_local_origin_set message + * @param chan MAVLink channel to send the message + * + * @param latitude Latitude (WGS84), expressed as * 1E7 + * @param longitude Longitude (WGS84), expressed as * 1E7 + * @param altitude Altitude(WGS84), expressed as * 1000 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude) +{ + mavlink_message_t msg; + mavlink_msg_gps_local_origin_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, latitude, longitude, altitude); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING + +/** + * @brief Get field latitude from gps_local_origin_set message + * + * @return Latitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(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 longitude from gps_local_origin_set message + * + * @return Longitude (WGS84), expressed as * 1E7 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(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 altitude from gps_local_origin_set message + * + * @return Altitude(WGS84), expressed as * 1000 + */ +static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(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 Decode a gps_local_origin_set message into a struct + * + * @param msg The message to decode + * @param gps_local_origin_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set) +{ + gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg); + gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg); + gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg); +}