Matthew
631 lines
29 KiB
C
631 lines
29 KiB
C
#pragma once
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// MESSAGE UTM_GLOBAL_POSITION PACKING
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#define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION 340
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typedef struct __mavlink_utm_global_position_t {
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uint32_t time; /*< [us] Time of applicability of position (microseconds since UNIX epoch).*/
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int32_t lat; /*< [degE7] Latitude (WGS84)*/
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int32_t lon; /*< [degE7] Longitude (WGS84)*/
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int32_t alt; /*< [mm] Altitude (WGS84)*/
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int32_t relative_alt; /*< [mm] Altitude above ground*/
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int32_t next_lat; /*< [degE7] Next waypoint, latitude (WGS84)*/
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int32_t next_lon; /*< [degE7] Next waypoint, longitude (WGS84)*/
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int32_t next_alt; /*< [mm] Next waypoint, altitude (WGS84)*/
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int16_t vx; /*< [cm/s] Ground X speed (latitude, positive north)*/
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int16_t vy; /*< [cm/s] Ground Y speed (longitude, positive east)*/
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int16_t vz; /*< [cm/s] Ground Z speed (altitude, positive down)*/
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uint16_t h_acc; /*< [mm] Horizontal position uncertainty (standard deviation)*/
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uint16_t v_acc; /*< [mm] Altitude uncertainty (standard deviation)*/
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uint16_t vel_acc; /*< [cm/s] Speed uncertainty (standard deviation)*/
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uint16_t update_rate; /*< [cs] Time until next update. Set to 0 if unknown or in data driven mode.*/
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uint8_t uas_id[18]; /*< Unique UAS ID.*/
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uint8_t flight_state; /*< Flight state*/
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uint8_t flags; /*< Bitwise OR combination of the data available flags.*/
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} mavlink_utm_global_position_t;
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#define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN 66
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#define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN 66
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#define MAVLINK_MSG_ID_340_LEN 66
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#define MAVLINK_MSG_ID_340_MIN_LEN 66
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#define MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC 201
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#define MAVLINK_MSG_ID_340_CRC 201
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#define MAVLINK_MSG_UTM_GLOBAL_POSITION_FIELD_UAS_ID_LEN 18
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_UTM_GLOBAL_POSITION { \
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340, \
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"UTM_GLOBAL_POSITION", \
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18, \
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{ { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_utm_global_position_t, time) }, \
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{ "uas_id", NULL, MAVLINK_TYPE_UINT8_T, 18, 46, offsetof(mavlink_utm_global_position_t, uas_id) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_utm_global_position_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_utm_global_position_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_utm_global_position_t, alt) }, \
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{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_utm_global_position_t, relative_alt) }, \
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{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_utm_global_position_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_utm_global_position_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_utm_global_position_t, vz) }, \
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{ "h_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 38, offsetof(mavlink_utm_global_position_t, h_acc) }, \
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{ "v_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_utm_global_position_t, v_acc) }, \
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{ "vel_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_utm_global_position_t, vel_acc) }, \
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{ "next_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_utm_global_position_t, next_lat) }, \
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{ "next_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_utm_global_position_t, next_lon) }, \
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{ "next_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_utm_global_position_t, next_alt) }, \
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{ "update_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_utm_global_position_t, update_rate) }, \
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{ "flight_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_utm_global_position_t, flight_state) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 65, offsetof(mavlink_utm_global_position_t, flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_UTM_GLOBAL_POSITION { \
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"UTM_GLOBAL_POSITION", \
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18, \
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{ { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_utm_global_position_t, time) }, \
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{ "uas_id", NULL, MAVLINK_TYPE_UINT8_T, 18, 46, offsetof(mavlink_utm_global_position_t, uas_id) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_utm_global_position_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_utm_global_position_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_utm_global_position_t, alt) }, \
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{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_utm_global_position_t, relative_alt) }, \
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{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_utm_global_position_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_utm_global_position_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_utm_global_position_t, vz) }, \
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{ "h_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 38, offsetof(mavlink_utm_global_position_t, h_acc) }, \
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{ "v_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_utm_global_position_t, v_acc) }, \
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{ "vel_acc", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_utm_global_position_t, vel_acc) }, \
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{ "next_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_utm_global_position_t, next_lat) }, \
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{ "next_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_utm_global_position_t, next_lon) }, \
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{ "next_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 28, offsetof(mavlink_utm_global_position_t, next_alt) }, \
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{ "update_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_utm_global_position_t, update_rate) }, \
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{ "flight_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_utm_global_position_t, flight_state) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 65, offsetof(mavlink_utm_global_position_t, flags) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a utm_global_position message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time [us] Time of applicability of position (microseconds since UNIX epoch).
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* @param uas_id Unique UAS ID.
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [mm] Altitude (WGS84)
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X speed (latitude, positive north)
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* @param vy [cm/s] Ground Y speed (longitude, positive east)
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* @param vz [cm/s] Ground Z speed (altitude, positive down)
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* @param h_acc [mm] Horizontal position uncertainty (standard deviation)
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* @param v_acc [mm] Altitude uncertainty (standard deviation)
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* @param vel_acc [cm/s] Speed uncertainty (standard deviation)
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* @param next_lat [degE7] Next waypoint, latitude (WGS84)
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* @param next_lon [degE7] Next waypoint, longitude (WGS84)
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* @param next_alt [mm] Next waypoint, altitude (WGS84)
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* @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
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* @param flight_state Flight state
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* @param flags Bitwise OR combination of the data available flags.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_utm_global_position_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
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_mav_put_uint32_t(buf, 0, time);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int32_t(buf, 20, next_lat);
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_mav_put_int32_t(buf, 24, next_lon);
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_mav_put_int32_t(buf, 28, next_alt);
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_mav_put_int16_t(buf, 32, vx);
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_mav_put_int16_t(buf, 34, vy);
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_mav_put_int16_t(buf, 36, vz);
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_mav_put_uint16_t(buf, 38, h_acc);
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_mav_put_uint16_t(buf, 40, v_acc);
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_mav_put_uint16_t(buf, 42, vel_acc);
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_mav_put_uint16_t(buf, 44, update_rate);
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_mav_put_uint8_t(buf, 64, flight_state);
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_mav_put_uint8_t(buf, 65, flags);
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_mav_put_uint8_t_array(buf, 46, uas_id, 18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
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#else
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mavlink_utm_global_position_t packet;
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packet.time = time;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.relative_alt = relative_alt;
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packet.next_lat = next_lat;
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packet.next_lon = next_lon;
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packet.next_alt = next_alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.h_acc = h_acc;
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packet.v_acc = v_acc;
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packet.vel_acc = vel_acc;
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packet.update_rate = update_rate;
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packet.flight_state = flight_state;
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packet.flags = flags;
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mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_UTM_GLOBAL_POSITION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
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}
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/**
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* @brief Pack a utm_global_position message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time [us] Time of applicability of position (microseconds since UNIX epoch).
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* @param uas_id Unique UAS ID.
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [mm] Altitude (WGS84)
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X speed (latitude, positive north)
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* @param vy [cm/s] Ground Y speed (longitude, positive east)
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* @param vz [cm/s] Ground Z speed (altitude, positive down)
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* @param h_acc [mm] Horizontal position uncertainty (standard deviation)
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* @param v_acc [mm] Altitude uncertainty (standard deviation)
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* @param vel_acc [cm/s] Speed uncertainty (standard deviation)
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* @param next_lat [degE7] Next waypoint, latitude (WGS84)
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* @param next_lon [degE7] Next waypoint, longitude (WGS84)
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* @param next_alt [mm] Next waypoint, altitude (WGS84)
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* @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
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* @param flight_state Flight state
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* @param flags Bitwise OR combination of the data available flags.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_utm_global_position_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t time,const uint8_t *uas_id,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t h_acc,uint16_t v_acc,uint16_t vel_acc,int32_t next_lat,int32_t next_lon,int32_t next_alt,uint16_t update_rate,uint8_t flight_state,uint8_t flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
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_mav_put_uint32_t(buf, 0, time);
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_mav_put_int32_t(buf, 4, lat);
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_mav_put_int32_t(buf, 8, lon);
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_mav_put_int32_t(buf, 12, alt);
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_mav_put_int32_t(buf, 16, relative_alt);
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_mav_put_int32_t(buf, 20, next_lat);
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_mav_put_int32_t(buf, 24, next_lon);
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_mav_put_int32_t(buf, 28, next_alt);
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_mav_put_int16_t(buf, 32, vx);
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_mav_put_int16_t(buf, 34, vy);
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_mav_put_int16_t(buf, 36, vz);
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_mav_put_uint16_t(buf, 38, h_acc);
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_mav_put_uint16_t(buf, 40, v_acc);
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_mav_put_uint16_t(buf, 42, vel_acc);
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_mav_put_uint16_t(buf, 44, update_rate);
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_mav_put_uint8_t(buf, 64, flight_state);
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_mav_put_uint8_t(buf, 65, flags);
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_mav_put_uint8_t_array(buf, 46, uas_id, 18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
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#else
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mavlink_utm_global_position_t packet;
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packet.time = time;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.relative_alt = relative_alt;
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packet.next_lat = next_lat;
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packet.next_lon = next_lon;
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packet.next_alt = next_alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.h_acc = h_acc;
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packet.v_acc = v_acc;
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packet.vel_acc = vel_acc;
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packet.update_rate = update_rate;
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packet.flight_state = flight_state;
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packet.flags = flags;
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mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_UTM_GLOBAL_POSITION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
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}
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/**
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* @brief Encode a utm_global_position struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param utm_global_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_utm_global_position_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_utm_global_position_t* utm_global_position)
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{
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return mavlink_msg_utm_global_position_pack(system_id, component_id, msg, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
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}
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/**
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* @brief Encode a utm_global_position struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param utm_global_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_utm_global_position_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_utm_global_position_t* utm_global_position)
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{
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return mavlink_msg_utm_global_position_pack_chan(system_id, component_id, chan, msg, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
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}
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/**
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* @brief Send a utm_global_position message
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* @param chan MAVLink channel to send the message
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*
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* @param time [us] Time of applicability of position (microseconds since UNIX epoch).
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* @param uas_id Unique UAS ID.
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [mm] Altitude (WGS84)
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* @param relative_alt [mm] Altitude above ground
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* @param vx [cm/s] Ground X speed (latitude, positive north)
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* @param vy [cm/s] Ground Y speed (longitude, positive east)
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* @param vz [cm/s] Ground Z speed (altitude, positive down)
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* @param h_acc [mm] Horizontal position uncertainty (standard deviation)
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* @param v_acc [mm] Altitude uncertainty (standard deviation)
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* @param vel_acc [cm/s] Speed uncertainty (standard deviation)
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* @param next_lat [degE7] Next waypoint, latitude (WGS84)
|
|
* @param next_lon [degE7] Next waypoint, longitude (WGS84)
|
|
* @param next_alt [mm] Next waypoint, altitude (WGS84)
|
|
* @param update_rate [cs] Time until next update. Set to 0 if unknown or in data driven mode.
|
|
* @param flight_state Flight state
|
|
* @param flags Bitwise OR combination of the data available flags.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_utm_global_position_send(mavlink_channel_t chan, uint32_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN];
|
|
_mav_put_uint32_t(buf, 0, time);
|
|
_mav_put_int32_t(buf, 4, lat);
|
|
_mav_put_int32_t(buf, 8, lon);
|
|
_mav_put_int32_t(buf, 12, alt);
|
|
_mav_put_int32_t(buf, 16, relative_alt);
|
|
_mav_put_int32_t(buf, 20, next_lat);
|
|
_mav_put_int32_t(buf, 24, next_lon);
|
|
_mav_put_int32_t(buf, 28, next_alt);
|
|
_mav_put_int16_t(buf, 32, vx);
|
|
_mav_put_int16_t(buf, 34, vy);
|
|
_mav_put_int16_t(buf, 36, vz);
|
|
_mav_put_uint16_t(buf, 38, h_acc);
|
|
_mav_put_uint16_t(buf, 40, v_acc);
|
|
_mav_put_uint16_t(buf, 42, vel_acc);
|
|
_mav_put_uint16_t(buf, 44, update_rate);
|
|
_mav_put_uint8_t(buf, 64, flight_state);
|
|
_mav_put_uint8_t(buf, 65, flags);
|
|
_mav_put_uint8_t_array(buf, 46, uas_id, 18);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
|
|
#else
|
|
mavlink_utm_global_position_t packet;
|
|
packet.time = time;
|
|
packet.lat = lat;
|
|
packet.lon = lon;
|
|
packet.alt = alt;
|
|
packet.relative_alt = relative_alt;
|
|
packet.next_lat = next_lat;
|
|
packet.next_lon = next_lon;
|
|
packet.next_alt = next_alt;
|
|
packet.vx = vx;
|
|
packet.vy = vy;
|
|
packet.vz = vz;
|
|
packet.h_acc = h_acc;
|
|
packet.v_acc = v_acc;
|
|
packet.vel_acc = vel_acc;
|
|
packet.update_rate = update_rate;
|
|
packet.flight_state = flight_state;
|
|
packet.flags = flags;
|
|
mav_array_memcpy(packet.uas_id, uas_id, sizeof(uint8_t)*18);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)&packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a utm_global_position message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_utm_global_position_send_struct(mavlink_channel_t chan, const mavlink_utm_global_position_t* utm_global_position)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_utm_global_position_send(chan, utm_global_position->time, utm_global_position->uas_id, utm_global_position->lat, utm_global_position->lon, utm_global_position->alt, utm_global_position->relative_alt, utm_global_position->vx, utm_global_position->vy, utm_global_position->vz, utm_global_position->h_acc, utm_global_position->v_acc, utm_global_position->vel_acc, utm_global_position->next_lat, utm_global_position->next_lon, utm_global_position->next_alt, utm_global_position->update_rate, utm_global_position->flight_state, utm_global_position->flags);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)utm_global_position, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_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_utm_global_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time, const uint8_t *uas_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t h_acc, uint16_t v_acc, uint16_t vel_acc, int32_t next_lat, int32_t next_lon, int32_t next_alt, uint16_t update_rate, uint8_t flight_state, uint8_t flags)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, time);
|
|
_mav_put_int32_t(buf, 4, lat);
|
|
_mav_put_int32_t(buf, 8, lon);
|
|
_mav_put_int32_t(buf, 12, alt);
|
|
_mav_put_int32_t(buf, 16, relative_alt);
|
|
_mav_put_int32_t(buf, 20, next_lat);
|
|
_mav_put_int32_t(buf, 24, next_lon);
|
|
_mav_put_int32_t(buf, 28, next_alt);
|
|
_mav_put_int16_t(buf, 32, vx);
|
|
_mav_put_int16_t(buf, 34, vy);
|
|
_mav_put_int16_t(buf, 36, vz);
|
|
_mav_put_uint16_t(buf, 38, h_acc);
|
|
_mav_put_uint16_t(buf, 40, v_acc);
|
|
_mav_put_uint16_t(buf, 42, vel_acc);
|
|
_mav_put_uint16_t(buf, 44, update_rate);
|
|
_mav_put_uint8_t(buf, 64, flight_state);
|
|
_mav_put_uint8_t(buf, 65, flags);
|
|
_mav_put_uint8_t_array(buf, 46, uas_id, 18);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, buf, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
|
|
#else
|
|
mavlink_utm_global_position_t *packet = (mavlink_utm_global_position_t *)msgbuf;
|
|
packet->time = time;
|
|
packet->lat = lat;
|
|
packet->lon = lon;
|
|
packet->alt = alt;
|
|
packet->relative_alt = relative_alt;
|
|
packet->next_lat = next_lat;
|
|
packet->next_lon = next_lon;
|
|
packet->next_alt = next_alt;
|
|
packet->vx = vx;
|
|
packet->vy = vy;
|
|
packet->vz = vz;
|
|
packet->h_acc = h_acc;
|
|
packet->v_acc = v_acc;
|
|
packet->vel_acc = vel_acc;
|
|
packet->update_rate = update_rate;
|
|
packet->flight_state = flight_state;
|
|
packet->flags = flags;
|
|
mav_array_memcpy(packet->uas_id, uas_id, sizeof(uint8_t)*18);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, (const char *)packet, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_MIN_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE UTM_GLOBAL_POSITION UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time from utm_global_position message
|
|
*
|
|
* @return [us] Time of applicability of position (microseconds since UNIX epoch).
|
|
*/
|
|
static inline uint32_t mavlink_msg_utm_global_position_get_time(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field uas_id from utm_global_position message
|
|
*
|
|
* @return Unique UAS ID.
|
|
*/
|
|
static inline uint16_t mavlink_msg_utm_global_position_get_uas_id(const mavlink_message_t* msg, uint8_t *uas_id)
|
|
{
|
|
return _MAV_RETURN_uint8_t_array(msg, uas_id, 18, 46);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from utm_global_position message
|
|
*
|
|
* @return [degE7] Latitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lon from utm_global_position message
|
|
*
|
|
* @return [degE7] Longitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt from utm_global_position message
|
|
*
|
|
* @return [mm] Altitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field relative_alt from utm_global_position message
|
|
*
|
|
* @return [mm] Altitude above ground
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_relative_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vx from utm_global_position message
|
|
*
|
|
* @return [cm/s] Ground X speed (latitude, positive north)
|
|
*/
|
|
static inline int16_t mavlink_msg_utm_global_position_get_vx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vy from utm_global_position message
|
|
*
|
|
* @return [cm/s] Ground Y speed (longitude, positive east)
|
|
*/
|
|
static inline int16_t mavlink_msg_utm_global_position_get_vy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 34);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vz from utm_global_position message
|
|
*
|
|
* @return [cm/s] Ground Z speed (altitude, positive down)
|
|
*/
|
|
static inline int16_t mavlink_msg_utm_global_position_get_vz(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field h_acc from utm_global_position message
|
|
*
|
|
* @return [mm] Horizontal position uncertainty (standard deviation)
|
|
*/
|
|
static inline uint16_t mavlink_msg_utm_global_position_get_h_acc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 38);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field v_acc from utm_global_position message
|
|
*
|
|
* @return [mm] Altitude uncertainty (standard deviation)
|
|
*/
|
|
static inline uint16_t mavlink_msg_utm_global_position_get_v_acc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vel_acc from utm_global_position message
|
|
*
|
|
* @return [cm/s] Speed uncertainty (standard deviation)
|
|
*/
|
|
static inline uint16_t mavlink_msg_utm_global_position_get_vel_acc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 42);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field next_lat from utm_global_position message
|
|
*
|
|
* @return [degE7] Next waypoint, latitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_next_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field next_lon from utm_global_position message
|
|
*
|
|
* @return [degE7] Next waypoint, longitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_next_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field next_alt from utm_global_position message
|
|
*
|
|
* @return [mm] Next waypoint, altitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_utm_global_position_get_next_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field update_rate from utm_global_position message
|
|
*
|
|
* @return [cs] Time until next update. Set to 0 if unknown or in data driven mode.
|
|
*/
|
|
static inline uint16_t mavlink_msg_utm_global_position_get_update_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flight_state from utm_global_position message
|
|
*
|
|
* @return Flight state
|
|
*/
|
|
static inline uint8_t mavlink_msg_utm_global_position_get_flight_state(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 64);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flags from utm_global_position message
|
|
*
|
|
* @return Bitwise OR combination of the data available flags.
|
|
*/
|
|
static inline uint8_t mavlink_msg_utm_global_position_get_flags(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 65);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a utm_global_position message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param utm_global_position C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_utm_global_position_decode(const mavlink_message_t* msg, mavlink_utm_global_position_t* utm_global_position)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
utm_global_position->time = mavlink_msg_utm_global_position_get_time(msg);
|
|
utm_global_position->lat = mavlink_msg_utm_global_position_get_lat(msg);
|
|
utm_global_position->lon = mavlink_msg_utm_global_position_get_lon(msg);
|
|
utm_global_position->alt = mavlink_msg_utm_global_position_get_alt(msg);
|
|
utm_global_position->relative_alt = mavlink_msg_utm_global_position_get_relative_alt(msg);
|
|
utm_global_position->next_lat = mavlink_msg_utm_global_position_get_next_lat(msg);
|
|
utm_global_position->next_lon = mavlink_msg_utm_global_position_get_next_lon(msg);
|
|
utm_global_position->next_alt = mavlink_msg_utm_global_position_get_next_alt(msg);
|
|
utm_global_position->vx = mavlink_msg_utm_global_position_get_vx(msg);
|
|
utm_global_position->vy = mavlink_msg_utm_global_position_get_vy(msg);
|
|
utm_global_position->vz = mavlink_msg_utm_global_position_get_vz(msg);
|
|
utm_global_position->h_acc = mavlink_msg_utm_global_position_get_h_acc(msg);
|
|
utm_global_position->v_acc = mavlink_msg_utm_global_position_get_v_acc(msg);
|
|
utm_global_position->vel_acc = mavlink_msg_utm_global_position_get_vel_acc(msg);
|
|
utm_global_position->update_rate = mavlink_msg_utm_global_position_get_update_rate(msg);
|
|
mavlink_msg_utm_global_position_get_uas_id(msg, utm_global_position->uas_id);
|
|
utm_global_position->flight_state = mavlink_msg_utm_global_position_get_flight_state(msg);
|
|
utm_global_position->flags = mavlink_msg_utm_global_position_get_flags(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN? msg->len : MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN;
|
|
memset(utm_global_position, 0, MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN);
|
|
memcpy(utm_global_position, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|