#pragma once // MESSAGE GPS_INPUT PACKING #define MAVLINK_MSG_ID_GPS_INPUT 232 MAVPACKED( typedef struct __mavlink_gps_input_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ uint32_t time_week_ms; /*< GPS time (milliseconds from start of GPS week)*/ int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/ int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/ float alt; /*< Altitude (AMSL, not WGS84), in m (positive for up)*/ float hdop; /*< GPS HDOP horizontal dilution of position in m*/ float vdop; /*< GPS VDOP vertical dilution of position in m*/ float vn; /*< GPS velocity in m/s in NORTH direction in earth-fixed NED frame*/ float ve; /*< GPS velocity in m/s in EAST direction in earth-fixed NED frame*/ float vd; /*< GPS velocity in m/s in DOWN direction in earth-fixed NED frame*/ float speed_accuracy; /*< GPS speed accuracy in m/s*/ float horiz_accuracy; /*< GPS horizontal accuracy in m*/ float vert_accuracy; /*< GPS vertical accuracy in m*/ uint16_t ignore_flags; /*< Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided.*/ uint16_t time_week; /*< GPS week number*/ uint8_t gps_id; /*< ID of the GPS for multiple GPS inputs*/ uint8_t fix_type; /*< 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK*/ uint8_t satellites_visible; /*< Number of satellites visible.*/ }) mavlink_gps_input_t; #define MAVLINK_MSG_ID_GPS_INPUT_LEN 63 #define MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN 63 #define MAVLINK_MSG_ID_232_LEN 63 #define MAVLINK_MSG_ID_232_MIN_LEN 63 #define MAVLINK_MSG_ID_GPS_INPUT_CRC 151 #define MAVLINK_MSG_ID_232_CRC 151 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_GPS_INPUT { \ 232, \ "GPS_INPUT", \ 18, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_input_t, time_usec) }, \ { "gps_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 60, offsetof(mavlink_gps_input_t, gps_id) }, \ { "ignore_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_gps_input_t, ignore_flags) }, \ { "time_week_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_gps_input_t, time_week_ms) }, \ { "time_week", NULL, MAVLINK_TYPE_UINT16_T, 0, 58, offsetof(mavlink_gps_input_t, time_week) }, \ { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 61, offsetof(mavlink_gps_input_t, fix_type) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_input_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_input_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gps_input_t, alt) }, \ { "hdop", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gps_input_t, hdop) }, \ { "vdop", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gps_input_t, vdop) }, \ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gps_input_t, vn) }, \ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gps_input_t, ve) }, \ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_gps_input_t, vd) }, \ { "speed_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_gps_input_t, speed_accuracy) }, \ { "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_gps_input_t, horiz_accuracy) }, \ { "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_gps_input_t, vert_accuracy) }, \ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_gps_input_t, satellites_visible) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_GPS_INPUT { \ "GPS_INPUT", \ 18, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_input_t, time_usec) }, \ { "gps_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 60, offsetof(mavlink_gps_input_t, gps_id) }, \ { "ignore_flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_gps_input_t, ignore_flags) }, \ { "time_week_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_gps_input_t, time_week_ms) }, \ { "time_week", NULL, MAVLINK_TYPE_UINT16_T, 0, 58, offsetof(mavlink_gps_input_t, time_week) }, \ { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 61, offsetof(mavlink_gps_input_t, fix_type) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_input_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_input_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gps_input_t, alt) }, \ { "hdop", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gps_input_t, hdop) }, \ { "vdop", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gps_input_t, vdop) }, \ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_gps_input_t, vn) }, \ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_gps_input_t, ve) }, \ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_gps_input_t, vd) }, \ { "speed_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_gps_input_t, speed_accuracy) }, \ { "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_gps_input_t, horiz_accuracy) }, \ { "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_gps_input_t, vert_accuracy) }, \ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_gps_input_t, satellites_visible) }, \ } \ } #endif /** * @brief Pack a gps_input 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 (micros since boot or Unix epoch) * @param gps_id ID of the GPS for multiple GPS inputs * @param ignore_flags Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. * @param time_week_ms GPS time (milliseconds from start of GPS week) * @param time_week GPS week number * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in m (positive for up) * @param hdop GPS HDOP horizontal dilution of position in m * @param vdop GPS VDOP vertical dilution of position in m * @param vn GPS velocity in m/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in m/s in EAST direction in earth-fixed NED frame * @param vd GPS velocity in m/s in DOWN direction in earth-fixed NED frame * @param speed_accuracy GPS speed accuracy in m/s * @param horiz_accuracy GPS horizontal accuracy in m * @param vert_accuracy GPS vertical accuracy in m * @param satellites_visible Number of satellites visible. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_input_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS_INPUT_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint32_t(buf, 8, time_week_ms); _mav_put_int32_t(buf, 12, lat); _mav_put_int32_t(buf, 16, lon); _mav_put_float(buf, 20, alt); _mav_put_float(buf, 24, hdop); _mav_put_float(buf, 28, vdop); _mav_put_float(buf, 32, vn); _mav_put_float(buf, 36, ve); _mav_put_float(buf, 40, vd); _mav_put_float(buf, 44, speed_accuracy); _mav_put_float(buf, 48, horiz_accuracy); _mav_put_float(buf, 52, vert_accuracy); _mav_put_uint16_t(buf, 56, ignore_flags); _mav_put_uint16_t(buf, 58, time_week); _mav_put_uint8_t(buf, 60, gps_id); _mav_put_uint8_t(buf, 61, fix_type); _mav_put_uint8_t(buf, 62, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INPUT_LEN); #else mavlink_gps_input_t packet; packet.time_usec = time_usec; packet.time_week_ms = time_week_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.hdop = hdop; packet.vdop = vdop; packet.vn = vn; packet.ve = ve; packet.vd = vd; packet.speed_accuracy = speed_accuracy; packet.horiz_accuracy = horiz_accuracy; packet.vert_accuracy = vert_accuracy; packet.ignore_flags = ignore_flags; packet.time_week = time_week; packet.gps_id = gps_id; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INPUT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GPS_INPUT; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); } /** * @brief Pack a gps_input 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 (micros since boot or Unix epoch) * @param gps_id ID of the GPS for multiple GPS inputs * @param ignore_flags Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. * @param time_week_ms GPS time (milliseconds from start of GPS week) * @param time_week GPS week number * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in m (positive for up) * @param hdop GPS HDOP horizontal dilution of position in m * @param vdop GPS VDOP vertical dilution of position in m * @param vn GPS velocity in m/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in m/s in EAST direction in earth-fixed NED frame * @param vd GPS velocity in m/s in DOWN direction in earth-fixed NED frame * @param speed_accuracy GPS speed accuracy in m/s * @param horiz_accuracy GPS horizontal accuracy in m * @param vert_accuracy GPS vertical accuracy in m * @param satellites_visible Number of satellites visible. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_gps_input_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,uint8_t gps_id,uint16_t ignore_flags,uint32_t time_week_ms,uint16_t time_week,uint8_t fix_type,int32_t lat,int32_t lon,float alt,float hdop,float vdop,float vn,float ve,float vd,float speed_accuracy,float horiz_accuracy,float vert_accuracy,uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS_INPUT_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint32_t(buf, 8, time_week_ms); _mav_put_int32_t(buf, 12, lat); _mav_put_int32_t(buf, 16, lon); _mav_put_float(buf, 20, alt); _mav_put_float(buf, 24, hdop); _mav_put_float(buf, 28, vdop); _mav_put_float(buf, 32, vn); _mav_put_float(buf, 36, ve); _mav_put_float(buf, 40, vd); _mav_put_float(buf, 44, speed_accuracy); _mav_put_float(buf, 48, horiz_accuracy); _mav_put_float(buf, 52, vert_accuracy); _mav_put_uint16_t(buf, 56, ignore_flags); _mav_put_uint16_t(buf, 58, time_week); _mav_put_uint8_t(buf, 60, gps_id); _mav_put_uint8_t(buf, 61, fix_type); _mav_put_uint8_t(buf, 62, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INPUT_LEN); #else mavlink_gps_input_t packet; packet.time_usec = time_usec; packet.time_week_ms = time_week_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.hdop = hdop; packet.vdop = vdop; packet.vn = vn; packet.ve = ve; packet.vd = vd; packet.speed_accuracy = speed_accuracy; packet.horiz_accuracy = horiz_accuracy; packet.vert_accuracy = vert_accuracy; packet.ignore_flags = ignore_flags; packet.time_week = time_week; packet.gps_id = gps_id; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INPUT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_GPS_INPUT; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); } /** * @brief Encode a gps_input 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 gps_input C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps_input_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_input_t* gps_input) { return mavlink_msg_gps_input_pack(system_id, component_id, msg, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible); } /** * @brief Encode a gps_input 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 gps_input C-struct to read the message contents from */ static inline uint16_t mavlink_msg_gps_input_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_input_t* gps_input) { return mavlink_msg_gps_input_pack_chan(system_id, component_id, chan, msg, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible); } /** * @brief Send a gps_input message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param gps_id ID of the GPS for multiple GPS inputs * @param ignore_flags Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. * @param time_week_ms GPS time (milliseconds from start of GPS week) * @param time_week GPS week number * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK * @param lat Latitude (WGS84), in degrees * 1E7 * @param lon Longitude (WGS84), in degrees * 1E7 * @param alt Altitude (AMSL, not WGS84), in m (positive for up) * @param hdop GPS HDOP horizontal dilution of position in m * @param vdop GPS VDOP vertical dilution of position in m * @param vn GPS velocity in m/s in NORTH direction in earth-fixed NED frame * @param ve GPS velocity in m/s in EAST direction in earth-fixed NED frame * @param vd GPS velocity in m/s in DOWN direction in earth-fixed NED frame * @param speed_accuracy GPS speed accuracy in m/s * @param horiz_accuracy GPS horizontal accuracy in m * @param vert_accuracy GPS vertical accuracy in m * @param satellites_visible Number of satellites visible. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_gps_input_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_GPS_INPUT_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint32_t(buf, 8, time_week_ms); _mav_put_int32_t(buf, 12, lat); _mav_put_int32_t(buf, 16, lon); _mav_put_float(buf, 20, alt); _mav_put_float(buf, 24, hdop); _mav_put_float(buf, 28, vdop); _mav_put_float(buf, 32, vn); _mav_put_float(buf, 36, ve); _mav_put_float(buf, 40, vd); _mav_put_float(buf, 44, speed_accuracy); _mav_put_float(buf, 48, horiz_accuracy); _mav_put_float(buf, 52, vert_accuracy); _mav_put_uint16_t(buf, 56, ignore_flags); _mav_put_uint16_t(buf, 58, time_week); _mav_put_uint8_t(buf, 60, gps_id); _mav_put_uint8_t(buf, 61, fix_type); _mav_put_uint8_t(buf, 62, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, buf, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); #else mavlink_gps_input_t packet; packet.time_usec = time_usec; packet.time_week_ms = time_week_ms; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.hdop = hdop; packet.vdop = vdop; packet.vn = vn; packet.ve = ve; packet.vd = vd; packet.speed_accuracy = speed_accuracy; packet.horiz_accuracy = horiz_accuracy; packet.vert_accuracy = vert_accuracy; packet.ignore_flags = ignore_flags; packet.time_week = time_week; packet.gps_id = gps_id; packet.fix_type = fix_type; packet.satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)&packet, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); #endif } /** * @brief Send a gps_input message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_gps_input_send_struct(mavlink_channel_t chan, const mavlink_gps_input_t* gps_input) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_gps_input_send(chan, gps_input->time_usec, gps_input->gps_id, gps_input->ignore_flags, gps_input->time_week_ms, gps_input->time_week, gps_input->fix_type, gps_input->lat, gps_input->lon, gps_input->alt, gps_input->hdop, gps_input->vdop, gps_input->vn, gps_input->ve, gps_input->vd, gps_input->speed_accuracy, gps_input->horiz_accuracy, gps_input->vert_accuracy, gps_input->satellites_visible); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)gps_input, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); #endif } #if MAVLINK_MSG_ID_GPS_INPUT_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_gps_input_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t gps_id, uint16_t ignore_flags, uint32_t time_week_ms, uint16_t time_week, uint8_t fix_type, int32_t lat, int32_t lon, float alt, float hdop, float vdop, float vn, float ve, float vd, float speed_accuracy, float horiz_accuracy, float vert_accuracy, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_uint32_t(buf, 8, time_week_ms); _mav_put_int32_t(buf, 12, lat); _mav_put_int32_t(buf, 16, lon); _mav_put_float(buf, 20, alt); _mav_put_float(buf, 24, hdop); _mav_put_float(buf, 28, vdop); _mav_put_float(buf, 32, vn); _mav_put_float(buf, 36, ve); _mav_put_float(buf, 40, vd); _mav_put_float(buf, 44, speed_accuracy); _mav_put_float(buf, 48, horiz_accuracy); _mav_put_float(buf, 52, vert_accuracy); _mav_put_uint16_t(buf, 56, ignore_flags); _mav_put_uint16_t(buf, 58, time_week); _mav_put_uint8_t(buf, 60, gps_id); _mav_put_uint8_t(buf, 61, fix_type); _mav_put_uint8_t(buf, 62, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, buf, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); #else mavlink_gps_input_t *packet = (mavlink_gps_input_t *)msgbuf; packet->time_usec = time_usec; packet->time_week_ms = time_week_ms; packet->lat = lat; packet->lon = lon; packet->alt = alt; packet->hdop = hdop; packet->vdop = vdop; packet->vn = vn; packet->ve = ve; packet->vd = vd; packet->speed_accuracy = speed_accuracy; packet->horiz_accuracy = horiz_accuracy; packet->vert_accuracy = vert_accuracy; packet->ignore_flags = ignore_flags; packet->time_week = time_week; packet->gps_id = gps_id; packet->fix_type = fix_type; packet->satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INPUT, (const char *)packet, MAVLINK_MSG_ID_GPS_INPUT_MIN_LEN, MAVLINK_MSG_ID_GPS_INPUT_LEN, MAVLINK_MSG_ID_GPS_INPUT_CRC); #endif } #endif #endif // MESSAGE GPS_INPUT UNPACKING /** * @brief Get field time_usec from gps_input message * * @return Timestamp (micros since boot or Unix epoch) */ static inline uint64_t mavlink_msg_gps_input_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field gps_id from gps_input message * * @return ID of the GPS for multiple GPS inputs */ static inline uint8_t mavlink_msg_gps_input_get_gps_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 60); } /** * @brief Get field ignore_flags from gps_input message * * @return Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. */ static inline uint16_t mavlink_msg_gps_input_get_ignore_flags(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 56); } /** * @brief Get field time_week_ms from gps_input message * * @return GPS time (milliseconds from start of GPS week) */ static inline uint32_t mavlink_msg_gps_input_get_time_week_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 8); } /** * @brief Get field time_week from gps_input message * * @return GPS week number */ static inline uint16_t mavlink_msg_gps_input_get_time_week(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 58); } /** * @brief Get field fix_type from gps_input message * * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK */ static inline uint8_t mavlink_msg_gps_input_get_fix_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 61); } /** * @brief Get field lat from gps_input message * * @return Latitude (WGS84), in degrees * 1E7 */ static inline int32_t mavlink_msg_gps_input_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field lon from gps_input message * * @return Longitude (WGS84), in degrees * 1E7 */ static inline int32_t mavlink_msg_gps_input_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field alt from gps_input message * * @return Altitude (AMSL, not WGS84), in m (positive for up) */ static inline float mavlink_msg_gps_input_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field hdop from gps_input message * * @return GPS HDOP horizontal dilution of position in m */ static inline float mavlink_msg_gps_input_get_hdop(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field vdop from gps_input message * * @return GPS VDOP vertical dilution of position in m */ static inline float mavlink_msg_gps_input_get_vdop(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field vn from gps_input message * * @return GPS velocity in m/s in NORTH direction in earth-fixed NED frame */ static inline float mavlink_msg_gps_input_get_vn(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field ve from gps_input message * * @return GPS velocity in m/s in EAST direction in earth-fixed NED frame */ static inline float mavlink_msg_gps_input_get_ve(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field vd from gps_input message * * @return GPS velocity in m/s in DOWN direction in earth-fixed NED frame */ static inline float mavlink_msg_gps_input_get_vd(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field speed_accuracy from gps_input message * * @return GPS speed accuracy in m/s */ static inline float mavlink_msg_gps_input_get_speed_accuracy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field horiz_accuracy from gps_input message * * @return GPS horizontal accuracy in m */ static inline float mavlink_msg_gps_input_get_horiz_accuracy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Get field vert_accuracy from gps_input message * * @return GPS vertical accuracy in m */ static inline float mavlink_msg_gps_input_get_vert_accuracy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 52); } /** * @brief Get field satellites_visible from gps_input message * * @return Number of satellites visible. */ static inline uint8_t mavlink_msg_gps_input_get_satellites_visible(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 62); } /** * @brief Decode a gps_input message into a struct * * @param msg The message to decode * @param gps_input C-struct to decode the message contents into */ static inline void mavlink_msg_gps_input_decode(const mavlink_message_t* msg, mavlink_gps_input_t* gps_input) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS gps_input->time_usec = mavlink_msg_gps_input_get_time_usec(msg); gps_input->time_week_ms = mavlink_msg_gps_input_get_time_week_ms(msg); gps_input->lat = mavlink_msg_gps_input_get_lat(msg); gps_input->lon = mavlink_msg_gps_input_get_lon(msg); gps_input->alt = mavlink_msg_gps_input_get_alt(msg); gps_input->hdop = mavlink_msg_gps_input_get_hdop(msg); gps_input->vdop = mavlink_msg_gps_input_get_vdop(msg); gps_input->vn = mavlink_msg_gps_input_get_vn(msg); gps_input->ve = mavlink_msg_gps_input_get_ve(msg); gps_input->vd = mavlink_msg_gps_input_get_vd(msg); gps_input->speed_accuracy = mavlink_msg_gps_input_get_speed_accuracy(msg); gps_input->horiz_accuracy = mavlink_msg_gps_input_get_horiz_accuracy(msg); gps_input->vert_accuracy = mavlink_msg_gps_input_get_vert_accuracy(msg); gps_input->ignore_flags = mavlink_msg_gps_input_get_ignore_flags(msg); gps_input->time_week = mavlink_msg_gps_input_get_time_week(msg); gps_input->gps_id = mavlink_msg_gps_input_get_gps_id(msg); gps_input->fix_type = mavlink_msg_gps_input_get_fix_type(msg); gps_input->satellites_visible = mavlink_msg_gps_input_get_satellites_visible(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_INPUT_LEN? msg->len : MAVLINK_MSG_ID_GPS_INPUT_LEN; memset(gps_input, 0, MAVLINK_MSG_ID_GPS_INPUT_LEN); memcpy(gps_input, _MAV_PAYLOAD(msg), len); #endif }