// MESSAGE GPS_RAW_INT PACKING #define MAVLINK_MSG_ID_GPS_RAW_INT 25 typedef struct __mavlink_gps_raw_int_t { uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) int32_t lat; ///< Latitude in 1E7 degrees int32_t lon; ///< Longitude in 1E7 degrees int32_t alt; ///< Altitude in 1E3 meters (millimeters) above MSL uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535 uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 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. uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255 } mavlink_gps_raw_int_t; #define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30 #define MAVLINK_MSG_ID_25_LEN 30 #define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \ "GPS_RAW_INT", \ 10, \ { { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, usec) }, \ { "lat", MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \ { "lon", MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \ { "alt", MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \ { "eph", MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \ { "epv", MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \ { "vel", MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \ { "hdg", MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, hdg) }, \ { "fix_type", MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \ { "satellites_visible", MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \ } \ } /** * @brief Pack a gps_raw_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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @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. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees * @param alt Altitude in 1E3 meters (millimeters) above MSL * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t hdg, uint8_t satellites_visible) { msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; put_uint64_t_by_index(msg, 0, usec); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) put_int32_t_by_index(msg, 8, lat); // Latitude in 1E7 degrees put_int32_t_by_index(msg, 12, lon); // Longitude in 1E7 degrees put_int32_t_by_index(msg, 16, alt); // Altitude in 1E3 meters (millimeters) above MSL put_uint16_t_by_index(msg, 20, eph); // GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 22, epv); // GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 24, vel); // GPS ground speed (m/s * 100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 26, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 put_uint8_t_by_index(msg, 28, 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. put_uint8_t_by_index(msg, 29, satellites_visible); // Number of satellites visible. If unknown, set to 255 return mavlink_finalize_message(msg, system_id, component_id, 30, 185); } /** * @brief Pack a gps_raw_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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @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. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees * @param alt Altitude in 1E3 meters (millimeters) above MSL * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t hdg,uint8_t satellites_visible) { msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; put_uint64_t_by_index(msg, 0, usec); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) put_int32_t_by_index(msg, 8, lat); // Latitude in 1E7 degrees put_int32_t_by_index(msg, 12, lon); // Longitude in 1E7 degrees put_int32_t_by_index(msg, 16, alt); // Altitude in 1E3 meters (millimeters) above MSL put_uint16_t_by_index(msg, 20, eph); // GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 22, epv); // GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 24, vel); // GPS ground speed (m/s * 100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 26, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 put_uint8_t_by_index(msg, 28, 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. put_uint8_t_by_index(msg, 29, satellites_visible); // Number of satellites visible. If unknown, set to 255 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30, 185); } /** * @brief Encode a gps_raw_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 gps_raw_int C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int) { return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->hdg, gps_raw_int->satellites_visible); } /** * @brief Send a gps_raw_int message * @param chan MAVLink channel to send the message * * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @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. * @param lat Latitude in 1E7 degrees * @param lon Longitude in 1E7 degrees * @param alt Altitude in 1E3 meters (millimeters) above MSL * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 * @param satellites_visible Number of satellites visible. If unknown, set to 255 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t hdg, uint8_t satellites_visible) { MAVLINK_ALIGNED_MESSAGE(msg, 30); msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT; put_uint64_t_by_index(msg, 0, usec); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) put_int32_t_by_index(msg, 8, lat); // Latitude in 1E7 degrees put_int32_t_by_index(msg, 12, lon); // Longitude in 1E7 degrees put_int32_t_by_index(msg, 16, alt); // Altitude in 1E3 meters (millimeters) above MSL put_uint16_t_by_index(msg, 20, eph); // GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 22, epv); // GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 24, vel); // GPS ground speed (m/s * 100). If unknown, set to: 65535 put_uint16_t_by_index(msg, 26, hdg); // Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 put_uint8_t_by_index(msg, 28, 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. put_uint8_t_by_index(msg, 29, satellites_visible); // Number of satellites visible. If unknown, set to 255 mavlink_finalize_message_chan_send(msg, chan, 30, 185); } #endif // MESSAGE GPS_RAW_INT UNPACKING /** * @brief Get field usec from gps_raw_int message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint64_t(msg, 0); } /** * @brief Get field fix_type from gps_raw_int message * * @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. */ static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint8_t(msg, 28); } /** * @brief Get field lat from gps_raw_int message * * @return Latitude in 1E7 degrees */ static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_int32_t(msg, 8); } /** * @brief Get field lon from gps_raw_int message * * @return Longitude in 1E7 degrees */ static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_int32_t(msg, 12); } /** * @brief Get field alt from gps_raw_int message * * @return Altitude in 1E3 meters (millimeters) above MSL */ static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_int32_t(msg, 16); } /** * @brief Get field eph from gps_raw_int message * * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint16_t(msg, 20); } /** * @brief Get field epv from gps_raw_int message * * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */ static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint16_t(msg, 22); } /** * @brief Get field vel from gps_raw_int message * * @return GPS ground speed (m/s * 100). If unknown, set to: 65535 */ static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint16_t(msg, 24); } /** * @brief Get field hdg from gps_raw_int message * * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */ static inline uint16_t mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint16_t(msg, 26); } /** * @brief Get field satellites_visible from gps_raw_int message * * @return Number of satellites visible. If unknown, set to 255 */ static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg) { return MAVLINK_MSG_RETURN_uint8_t(msg, 29); } /** * @brief Decode a gps_raw_int message into a struct * * @param msg The message to decode * @param gps_raw_int C-struct to decode the message contents into */ static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int) { #if MAVLINK_NEED_BYTE_SWAP gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg); gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg); gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg); gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg); gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg); gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg); gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg); gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg); gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg); gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg); #else memcpy(gps_raw_int, MAVLINK_PAYLOAD(msg), 30); #endif }