#pragma once // MESSAGE GPS2_RAW PACKING #define MAVLINK_MSG_ID_GPS2_RAW 124 MAVPACKED( typedef struct __mavlink_gps2_raw_t { uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/ int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/ int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/ int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/ uint32_t dgps_age; /*< Age of DGPS info*/ uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/ uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/ uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX*/ uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/ uint8_t fix_type; /*< See the GPS_FIX_TYPE enum.*/ uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/ uint8_t dgps_numch; /*< Number of DGPS satellites*/ }) mavlink_gps2_raw_t; #define MAVLINK_MSG_ID_GPS2_RAW_LEN 35 #define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35 #define MAVLINK_MSG_ID_124_LEN 35 #define MAVLINK_MSG_ID_124_MIN_LEN 35 #define MAVLINK_MSG_ID_GPS2_RAW_CRC 87 #define MAVLINK_MSG_ID_124_CRC 87 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \ 124, \ "GPS2_RAW", \ 12, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \ { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \ { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \ { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \ { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \ { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \ { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \ { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \ "GPS2_RAW", \ 12, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \ { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \ { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \ { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \ { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \ { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \ { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \ { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \ } \ } #endif /** * @brief Pack a gps2_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type See the GPS_FIX_TYPE enum. * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @param dgps_numch Number of DGPS satellites * @param dgps_age Age of DGPS info * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_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 cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lon); _mav_put_int32_t(buf, 16, alt); _mav_put_uint32_t(buf, 20, dgps_age); _mav_put_uint16_t(buf, 24, eph); _mav_put_uint16_t(buf, 26, epv); _mav_put_uint16_t(buf, 28, vel); _mav_put_uint16_t(buf, 30, cog); _mav_put_uint8_t(buf, 32, fix_type); _mav_put_uint8_t(buf, 33, satellites_visible); _mav_put_uint8_t(buf, 34, dgps_numch); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN); #else mavlink_gps2_raw_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.dgps_age = dgps_age; packet.eph = eph; packet.epv = epv; packet.vel = vel; packet.cog = cog; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; packet.dgps_numch = dgps_numch; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GPS2_RAW; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); } /** * @brief Pack a gps2_raw 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 will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type See the GPS_FIX_TYPE enum. * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @param dgps_numch Number of DGPS satellites * @param dgps_age Age of DGPS info * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_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 cog,uint8_t satellites_visible,uint8_t dgps_numch,uint32_t dgps_age) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lon); _mav_put_int32_t(buf, 16, alt); _mav_put_uint32_t(buf, 20, dgps_age); _mav_put_uint16_t(buf, 24, eph); _mav_put_uint16_t(buf, 26, epv); _mav_put_uint16_t(buf, 28, vel); _mav_put_uint16_t(buf, 30, cog); _mav_put_uint8_t(buf, 32, fix_type); _mav_put_uint8_t(buf, 33, satellites_visible); _mav_put_uint8_t(buf, 34, dgps_numch); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN); #else mavlink_gps2_raw_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.dgps_age = dgps_age; packet.eph = eph; packet.epv = epv; packet.vel = vel; packet.cog = cog; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; packet.dgps_numch = dgps_numch; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GPS2_RAW; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); } /** * @brief Encode a gps2_raw struct * * @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 gps2_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw) { return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age); } /** * @brief Encode a gps2_raw struct 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 will be sent over * @param msg The MAVLink message to compress the data into * @param gps2_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw) { return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age); } /** * @brief Send a gps2_raw message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param fix_type See the GPS_FIX_TYPE enum. * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @param dgps_numch Number of DGPS satellites * @param dgps_age Age of DGPS info */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_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 cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lon); _mav_put_int32_t(buf, 16, alt); _mav_put_uint32_t(buf, 20, dgps_age); _mav_put_uint16_t(buf, 24, eph); _mav_put_uint16_t(buf, 26, epv); _mav_put_uint16_t(buf, 28, vel); _mav_put_uint16_t(buf, 30, cog); _mav_put_uint8_t(buf, 32, fix_type); _mav_put_uint8_t(buf, 33, satellites_visible); _mav_put_uint8_t(buf, 34, dgps_numch); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); #else mavlink_gps2_raw_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.dgps_age = dgps_age; packet.eph = eph; packet.epv = epv; packet.vel = vel; packet.cog = cog; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; packet.dgps_numch = dgps_numch; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); #endif } /** * @brief Send a gps2_raw message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_gps2_raw_send(chan, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)gps2_raw, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); #endif } #if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_gps2_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_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 cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lon); _mav_put_int32_t(buf, 16, alt); _mav_put_uint32_t(buf, 20, dgps_age); _mav_put_uint16_t(buf, 24, eph); _mav_put_uint16_t(buf, 26, epv); _mav_put_uint16_t(buf, 28, vel); _mav_put_uint16_t(buf, 30, cog); _mav_put_uint8_t(buf, 32, fix_type); _mav_put_uint8_t(buf, 33, satellites_visible); _mav_put_uint8_t(buf, 34, dgps_numch); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); #else mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf; packet->time_usec = time_usec; packet->lat = lat; packet->lon = lon; packet->alt = alt; packet->dgps_age = dgps_age; packet->eph = eph; packet->epv = epv; packet->vel = vel; packet->cog = cog; packet->fix_type = fix_type; packet->satellites_visible = satellites_visible; packet->dgps_numch = dgps_numch; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC); #endif } #endif #endif // MESSAGE GPS2_RAW UNPACKING /** * @brief Get field time_usec from gps2_raw message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field fix_type from gps2_raw message * * @return See the GPS_FIX_TYPE enum. */ static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 32); } /** * @brief Get field lat from gps2_raw message * * @return Latitude (WGS84), in degrees * 1E7 */ static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field lon from gps2_raw message * * @return Longitude (WGS84), in degrees * 1E7 */ static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field alt from gps2_raw message * * @return Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) */ static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field eph from gps2_raw message * * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 24); } /** * @brief Get field epv from gps2_raw message * * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 26); } /** * @brief Get field vel from gps2_raw message * * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 28); } /** * @brief Get field cog from gps2_raw message * * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX */ static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 30); } /** * @brief Get field satellites_visible from gps2_raw message * * @return Number of satellites visible. If unknown, set to 255 */ static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 33); } /** * @brief Get field dgps_numch from gps2_raw message * * @return Number of DGPS satellites */ static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 34); } /** * @brief Get field dgps_age from gps2_raw message * * @return Age of DGPS info */ static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 20); } /** * @brief Decode a gps2_raw message into a struct * * @param msg The message to decode * @param gps2_raw C-struct to decode the message contents into */ static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg); gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg); gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg); gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg); gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg); gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg); gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg); gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg); gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg); gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg); gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg); gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RAW_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RAW_LEN; memset(gps2_raw, 0, MAVLINK_MSG_ID_GPS2_RAW_LEN); memcpy(gps2_raw, _MAV_PAYLOAD(msg), len); #endif }