mavlink_msg_gps_raw_ugv.h

00001 // MESSAGE GPS_RAW_UGV PACKING
00002 
00003 #define MAVLINK_MSG_ID_GPS_RAW_UGV 86
00004 
00005 typedef struct __mavlink_gps_raw_ugv_t 
00006 {
00007     uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00008     uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00009     double lat; ///< Latitude in 1E15 degrees
00010     double lon; ///< Longitude in 1E15 degrees
00011     float eph; ///< GPS HDOP
00012     float epv; ///< GPS VDOP
00013     float v; ///< GPS ground speed
00014     float hdg; ///< Compass heading in degrees, 0..360 degrees
00015 
00016 } mavlink_gps_raw_ugv_t;
00017 
00018 
00019 /**
00020  * @brief Pack a gps_raw message
00021  * @param system_id ID of this system
00022  * @param component_id ID of this component (e.g. 200 for IMU)
00023  * @param msg The MAVLink message to compress the data into
00024  *
00025  * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00026  * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00027  * @param lat Latitude in degrees
00028  * @param lon Longitude in degrees
00029  * @param eph GPS HDOP
00030  * @param epv GPS VDOP
00031  * @param v GPS ground speed
00032  * @param hdg Compass heading in degrees, 0..360 degrees
00033  * @return length of the message in bytes (excluding serial stream start sign)
00034  */
00035 static inline uint16_t mavlink_msg_gps_raw_ugv_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg)
00036 {
00037     uint16_t i = 0;
00038     msg->msgid = MAVLINK_MSG_ID_GPS_RAW_UGV;
00039 
00040     i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00041     i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00042     i += put_double_by_index(lat, i, msg->payload); // Latitude in degrees
00043     i += put_double_by_index(lon, i, msg->payload); // Longitude in degrees
00044     i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
00045     i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
00046     i += put_float_by_index(v, i, msg->payload); // GPS ground speed
00047     i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
00048 
00049     return mavlink_finalize_message(msg, system_id, component_id, i);
00050 }
00051 
00052 /**
00053  * @brief Pack a gps_raw message
00054  * @param system_id ID of this system
00055  * @param component_id ID of this component (e.g. 200 for IMU)
00056  * @param chan The MAVLink channel this message was sent over
00057  * @param msg The MAVLink message to compress the data into
00058  * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00059  * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00060  * @param lat Latitude in degrees
00061  * @param lon Longitude in degrees
00062  * @param eph GPS HDOP
00063  * @param epv GPS VDOP
00064  * @param v GPS ground speed
00065  * @param hdg Compass heading in degrees, 0..360 degrees
00066  * @return length of the message in bytes (excluding serial stream start sign)
00067  */
00068 static inline uint16_t mavlink_msg_gps_raw_ugv_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg)
00069 {
00070     uint16_t i = 0;
00071     msg->msgid = MAVLINK_MSG_ID_GPS_RAW_UGV;
00072 
00073     i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00074     i += put_uint8_t_by_index(fix_type, i, msg->payload); // 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00075     i += put_double_by_index(lat, i, msg->payload); // Latitude in degrees
00076     i += put_double_by_index(lon, i, msg->payload); // Longitude in degrees
00077     i += put_float_by_index(eph, i, msg->payload); // GPS HDOP
00078     i += put_float_by_index(epv, i, msg->payload); // GPS VDOP
00079     i += put_float_by_index(v, i, msg->payload); // GPS ground speed
00080     i += put_float_by_index(hdg, i, msg->payload); // Compass heading in degrees, 0..360 degrees
00081 
00082     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00083 }
00084 
00085 /**
00086  * @brief Encode a gps_raw struct into a message
00087  *
00088  * @param system_id ID of this system
00089  * @param component_id ID of this component (e.g. 200 for IMU)
00090  * @param msg The MAVLink message to compress the data into
00091  * @param gps_raw C-struct to read the message contents from
00092  */
00093 static inline uint16_t mavlink_msg_gps_raw_ugv_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_ugv_t* gps_raw)
00094 {
00095     return mavlink_msg_gps_raw_ugv_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg);
00096 }
00097 
00098 /**
00099  * @brief Send a gps_raw message
00100  * @param chan MAVLink channel to send the message
00101  *
00102  * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00103  * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00104  * @param lat Latitude in degrees
00105  * @param lon Longitude in degrees
00106  * @param eph GPS HDOP
00107  * @param epv GPS VDOP
00108  * @param v GPS ground speed
00109  * @param hdg Compass heading in degrees, 0..360 degrees
00110  */
00111 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00112 
00113 static inline void mavlink_msg_gps_raw_ugv_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, double lat, double lon, float eph, float epv, float v, float hdg)
00114 {
00115     mavlink_message_t msg;
00116     mavlink_msg_gps_raw_ugv_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, fix_type, lat, lon, eph, epv, v, hdg);
00117     mavlink_send_uart(chan, &msg);
00118 }
00119 
00120 #endif
00121 // MESSAGE GPS_RAW UNPACKING
00122 
00123 /**
00124  * @brief Get field usec from gps_raw message
00125  *
00126  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
00127  */
00128 static inline uint64_t mavlink_msg_gps_raw_ugv_get_usec(const mavlink_message_t* msg)
00129 {
00130     generic_64bit r;
00131     r.b[7] = (msg->payload)[0];
00132     r.b[6] = (msg->payload)[1];
00133     r.b[5] = (msg->payload)[2];
00134     r.b[4] = (msg->payload)[3];
00135     r.b[3] = (msg->payload)[4];
00136     r.b[2] = (msg->payload)[5];
00137     r.b[1] = (msg->payload)[6];
00138     r.b[0] = (msg->payload)[7];
00139     return (uint64_t)r.ll;
00140 }
00141 
00142 /**
00143  * @brief Get field fix_type from gps_raw message
00144  *
00145  * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
00146  */
00147 static inline uint8_t mavlink_msg_gps_raw_ugv_get_fix_type(const mavlink_message_t* msg)
00148 {
00149     return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
00150 }
00151 
00152 /**
00153  * @brief Get field lat from gps_raw message
00154  *
00155  * @return Latitude in degrees
00156  */
00157 static inline double mavlink_msg_gps_raw_ugv_get_lat(const mavlink_message_t* msg)
00158 {
00159     generic_64bit r;
00160     r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
00161     r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
00162     r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2];
00163     r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3];
00164     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[4];
00165     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[5];
00166     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[6];
00167     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[7];
00168     return (double)r.d;
00169 }
00170 
00171 /**
00172  * @brief Get field lon from gps_raw message
00173  *
00174  * @return Longitude in degrees
00175  */
00176 static inline double mavlink_msg_gps_raw_ugv_get_lon(const mavlink_message_t* msg)
00177 {
00178     generic_64bit r;
00179     r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[0];
00180     r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[1];
00181     r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[2];
00182     r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[3];
00183     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[4];
00184     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[5];
00185     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[6];
00186     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double))[7];
00187     return (double)r.d;
00188 }
00189 
00190 /**
00191  * @brief Get field eph from gps_raw message
00192  *
00193  * @return GPS HDOP
00194  */
00195 static inline float mavlink_msg_gps_raw_ugv_get_eph(const mavlink_message_t* msg)
00196 {
00197     generic_32bit r;
00198     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[0];
00199     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[1];
00200     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[2];
00201     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float))[3];
00202     return (float)r.f;
00203 }
00204 
00205 /**
00206  * @brief Get field epv from gps_raw message
00207  *
00208  * @return GPS VDOP
00209  */
00210 static inline float mavlink_msg_gps_raw_ugv_get_epv(const mavlink_message_t* msg)
00211 {
00212     generic_32bit r;
00213     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[0];
00214     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[1];
00215     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[2];
00216     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float))[3];
00217     return (float)r.f;
00218 }
00219 
00220 /**
00221  * @brief Get field v from gps_raw message
00222  *
00223  * @return GPS ground speed
00224  */
00225 static inline float mavlink_msg_gps_raw_ugv_get_v(const mavlink_message_t* msg)
00226 {
00227     generic_32bit r;
00228     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00229     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00230     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00231     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00232     return (float)r.f;
00233 }
00234 
00235 /**
00236  * @brief Get field hdg from gps_raw message
00237  *
00238  * @return Compass heading in degrees, 0..360 degrees
00239  */
00240 static inline float mavlink_msg_gps_raw_ugv_get_hdg(const mavlink_message_t* msg)
00241 {
00242     generic_32bit r;
00243     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00244     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00245     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00246     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(double)+sizeof(double)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00247     return (float)r.f;
00248 }
00249 
00250 /**
00251  * @brief Decode a gps_raw message into a struct
00252  *
00253  * @param msg The message to decode
00254  * @param gps_raw C-struct to decode the message contents into
00255  */
00256 static inline void mavlink_msg_gps_raw_ugv_decode(const mavlink_message_t* msg, mavlink_gps_raw_ugv_t* gps_raw)
00257 {
00258     gps_raw->usec = mavlink_msg_gps_raw_ugv_get_usec(msg);
00259     gps_raw->fix_type = mavlink_msg_gps_raw_ugv_get_fix_type(msg);
00260     gps_raw->lat = mavlink_msg_gps_raw_ugv_get_lat(msg);
00261     gps_raw->lon = mavlink_msg_gps_raw_ugv_get_lon(msg);
00262     gps_raw->eph = mavlink_msg_gps_raw_ugv_get_eph(msg);
00263     gps_raw->epv = mavlink_msg_gps_raw_ugv_get_epv(msg);
00264     gps_raw->v = mavlink_msg_gps_raw_ugv_get_v(msg);
00265     gps_raw->hdg = mavlink_msg_gps_raw_ugv_get_hdg(msg);
00266 }