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mavlink_msg_global_position_int.h 8.71 KB
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Lorenz Meier's avatar
Preferred master version of MAVLink
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// 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;

#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18
#define MAVLINK_MSG_ID_73_LEN 18



#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
	"GLOBAL_POSITION_INT", \
	6, \
	{  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_int_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, alt) }, \
         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_int_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_global_position_int_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_global_position_int_t, vz) }, \
         } \
}


/**
 * @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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[18];
	_mav_put_int32_t(buf, 0, lat);
	_mav_put_int32_t(buf, 4, lon);
	_mav_put_int32_t(buf, 8, alt);
	_mav_put_int16_t(buf, 12, vx);
	_mav_put_int16_t(buf, 14, vy);
	_mav_put_int16_t(buf, 16, vz);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
#else
	mavlink_global_position_int_t packet;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
#endif

	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
	return mavlink_finalize_message(msg, system_id, component_id, 18);
}

/**
 * @brief Pack a global_position_int message on a channel
 * @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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[18];
	_mav_put_int32_t(buf, 0, lat);
	_mav_put_int32_t(buf, 4, lon);
	_mav_put_int32_t(buf, 8, alt);
	_mav_put_int16_t(buf, 12, vx);
	_mav_put_int16_t(buf, 14, vy);
	_mav_put_int16_t(buf, 16, vz);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
#else
	mavlink_global_position_int_t packet;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
#endif

	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
}

/**
 * @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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[18];
	_mav_put_int32_t(buf, 0, lat);
	_mav_put_int32_t(buf, 4, lon);
	_mav_put_int32_t(buf, 8, alt);
	_mav_put_int16_t(buf, 12, vx);
	_mav_put_int16_t(buf, 14, vy);
	_mav_put_int16_t(buf, 16, vz);

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 18);
#else
	mavlink_global_position_int_t packet;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.vx = vx;
	packet.vy = vy;
	packet.vz = vz;

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 18);
#endif
}

#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)
{
	return _MAV_RETURN_int32_t(msg,  0);
}

/**
 * @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)
{
	return _MAV_RETURN_int32_t(msg,  4);
}

/**
 * @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)
{
	return _MAV_RETURN_int32_t(msg,  8);
}

/**
 * @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)
{
	return _MAV_RETURN_int16_t(msg,  12);
}

/**
 * @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)
{
	return _MAV_RETURN_int16_t(msg,  14);
}

/**
 * @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)
{
	return _MAV_RETURN_int16_t(msg,  16);
}

/**
 * @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)
{
#if MAVLINK_NEED_BYTE_SWAP
	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);
#else
	memcpy(global_position_int, _MAV_PAYLOAD(msg), 18);
#endif
}