#pragma once // MESSAGE ALTITUDES PACKING #define MAVLINK_MSG_ID_ALTITUDES 181 typedef struct __mavlink_altitudes_t { uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/ int32_t alt_gps; /*< GPS altitude (MSL) in meters, expressed as * 1000 (millimeters)*/ int32_t alt_imu; /*< IMU altitude above ground in meters, expressed as * 1000 (millimeters)*/ int32_t alt_barometric; /*< barometeric altitude above ground in meters, expressed as * 1000 (millimeters)*/ int32_t alt_optical_flow; /*< Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)*/ int32_t alt_range_finder; /*< Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)*/ int32_t alt_extra; /*< Extra altitude above ground in meters, expressed as * 1000 (millimeters)*/ } mavlink_altitudes_t; #define MAVLINK_MSG_ID_ALTITUDES_LEN 28 #define MAVLINK_MSG_ID_ALTITUDES_MIN_LEN 28 #define MAVLINK_MSG_ID_181_LEN 28 #define MAVLINK_MSG_ID_181_MIN_LEN 28 #define MAVLINK_MSG_ID_ALTITUDES_CRC 55 #define MAVLINK_MSG_ID_181_CRC 55 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_ALTITUDES { \ 181, \ "ALTITUDES", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitudes_t, time_boot_ms) }, \ { "alt_gps", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_altitudes_t, alt_gps) }, \ { "alt_imu", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_altitudes_t, alt_imu) }, \ { "alt_barometric", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_altitudes_t, alt_barometric) }, \ { "alt_optical_flow", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_altitudes_t, alt_optical_flow) }, \ { "alt_range_finder", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_altitudes_t, alt_range_finder) }, \ { "alt_extra", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_altitudes_t, alt_extra) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_ALTITUDES { \ "ALTITUDES", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitudes_t, time_boot_ms) }, \ { "alt_gps", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_altitudes_t, alt_gps) }, \ { "alt_imu", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_altitudes_t, alt_imu) }, \ { "alt_barometric", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_altitudes_t, alt_barometric) }, \ { "alt_optical_flow", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_altitudes_t, alt_optical_flow) }, \ { "alt_range_finder", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_altitudes_t, alt_range_finder) }, \ { "alt_extra", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_altitudes_t, alt_extra) }, \ } \ } #endif /** * @brief Pack a altitudes 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_boot_ms Timestamp (milliseconds since system boot) * @param alt_gps GPS altitude (MSL) in meters, expressed as * 1000 (millimeters) * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_altitudes_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ALTITUDES_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, alt_gps); _mav_put_int32_t(buf, 8, alt_imu); _mav_put_int32_t(buf, 12, alt_barometric); _mav_put_int32_t(buf, 16, alt_optical_flow); _mav_put_int32_t(buf, 20, alt_range_finder); _mav_put_int32_t(buf, 24, alt_extra); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDES_LEN); #else mavlink_altitudes_t packet; packet.time_boot_ms = time_boot_ms; packet.alt_gps = alt_gps; packet.alt_imu = alt_imu; packet.alt_barometric = alt_barometric; packet.alt_optical_flow = alt_optical_flow; packet.alt_range_finder = alt_range_finder; packet.alt_extra = alt_extra; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDES_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ALTITUDES; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); } /** * @brief Pack a altitudes message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param alt_gps GPS altitude (MSL) in meters, expressed as * 1000 (millimeters) * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_altitudes_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ALTITUDES_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, alt_gps); _mav_put_int32_t(buf, 8, alt_imu); _mav_put_int32_t(buf, 12, alt_barometric); _mav_put_int32_t(buf, 16, alt_optical_flow); _mav_put_int32_t(buf, 20, alt_range_finder); _mav_put_int32_t(buf, 24, alt_extra); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDES_LEN); #else mavlink_altitudes_t packet; packet.time_boot_ms = time_boot_ms; packet.alt_gps = alt_gps; packet.alt_imu = alt_imu; packet.alt_barometric = alt_barometric; packet.alt_optical_flow = alt_optical_flow; packet.alt_range_finder = alt_range_finder; packet.alt_extra = alt_extra; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDES_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ALTITUDES; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN); #endif } /** * @brief Pack a altitudes 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_boot_ms Timestamp (milliseconds since system boot) * @param alt_gps GPS altitude (MSL) in meters, expressed as * 1000 (millimeters) * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_altitudes_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,int32_t alt_gps,int32_t alt_imu,int32_t alt_barometric,int32_t alt_optical_flow,int32_t alt_range_finder,int32_t alt_extra) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ALTITUDES_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, alt_gps); _mav_put_int32_t(buf, 8, alt_imu); _mav_put_int32_t(buf, 12, alt_barometric); _mav_put_int32_t(buf, 16, alt_optical_flow); _mav_put_int32_t(buf, 20, alt_range_finder); _mav_put_int32_t(buf, 24, alt_extra); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDES_LEN); #else mavlink_altitudes_t packet; packet.time_boot_ms = time_boot_ms; packet.alt_gps = alt_gps; packet.alt_imu = alt_imu; packet.alt_barometric = alt_barometric; packet.alt_optical_flow = alt_optical_flow; packet.alt_range_finder = alt_range_finder; packet.alt_extra = alt_extra; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDES_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ALTITUDES; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); } /** * @brief Encode a altitudes 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 altitudes C-struct to read the message contents from */ static inline uint16_t mavlink_msg_altitudes_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes) { return mavlink_msg_altitudes_pack(system_id, component_id, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra); } /** * @brief Encode a altitudes 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 altitudes C-struct to read the message contents from */ static inline uint16_t mavlink_msg_altitudes_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes) { return mavlink_msg_altitudes_pack_chan(system_id, component_id, chan, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra); } /** * @brief Encode a altitudes struct with provided status structure * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * @param altitudes C-struct to read the message contents from */ static inline uint16_t mavlink_msg_altitudes_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes) { return mavlink_msg_altitudes_pack_status(system_id, component_id, _status, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra); } /** * @brief Send a altitudes message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param alt_gps GPS altitude (MSL) in meters, expressed as * 1000 (millimeters) * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters) * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_altitudes_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ALTITUDES_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, alt_gps); _mav_put_int32_t(buf, 8, alt_imu); _mav_put_int32_t(buf, 12, alt_barometric); _mav_put_int32_t(buf, 16, alt_optical_flow); _mav_put_int32_t(buf, 20, alt_range_finder); _mav_put_int32_t(buf, 24, alt_extra); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #else mavlink_altitudes_t packet; packet.time_boot_ms = time_boot_ms; packet.alt_gps = alt_gps; packet.alt_imu = alt_imu; packet.alt_barometric = alt_barometric; packet.alt_optical_flow = alt_optical_flow; packet.alt_range_finder = alt_range_finder; packet.alt_extra = alt_extra; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)&packet, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #endif } /** * @brief Send a altitudes message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_altitudes_send_struct(mavlink_channel_t chan, const mavlink_altitudes_t* altitudes) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_altitudes_send(chan, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)altitudes, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #endif } #if MAVLINK_MSG_ID_ALTITUDES_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This variant 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_altitudes_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int32_t(buf, 4, alt_gps); _mav_put_int32_t(buf, 8, alt_imu); _mav_put_int32_t(buf, 12, alt_barometric); _mav_put_int32_t(buf, 16, alt_optical_flow); _mav_put_int32_t(buf, 20, alt_range_finder); _mav_put_int32_t(buf, 24, alt_extra); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #else mavlink_altitudes_t *packet = (mavlink_altitudes_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->alt_gps = alt_gps; packet->alt_imu = alt_imu; packet->alt_barometric = alt_barometric; packet->alt_optical_flow = alt_optical_flow; packet->alt_range_finder = alt_range_finder; packet->alt_extra = alt_extra; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)packet, MAVLINK_MSG_ID_ALTITUDES_MIN_LEN, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC); #endif } #endif #endif // MESSAGE ALTITUDES UNPACKING /** * @brief Get field time_boot_ms from altitudes message * * @return Timestamp (milliseconds since system boot) */ static inline uint32_t mavlink_msg_altitudes_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field alt_gps from altitudes message * * @return GPS altitude (MSL) in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_gps(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field alt_imu from altitudes message * * @return IMU altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_imu(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field alt_barometric from altitudes message * * @return barometeric altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_barometric(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field alt_optical_flow from altitudes message * * @return Optical flow altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_optical_flow(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field alt_range_finder from altitudes message * * @return Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_range_finder(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 20); } /** * @brief Get field alt_extra from altitudes message * * @return Extra altitude above ground in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_altitudes_get_alt_extra(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 24); } /** * @brief Decode a altitudes message into a struct * * @param msg The message to decode * @param altitudes C-struct to decode the message contents into */ static inline void mavlink_msg_altitudes_decode(const mavlink_message_t* msg, mavlink_altitudes_t* altitudes) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS altitudes->time_boot_ms = mavlink_msg_altitudes_get_time_boot_ms(msg); altitudes->alt_gps = mavlink_msg_altitudes_get_alt_gps(msg); altitudes->alt_imu = mavlink_msg_altitudes_get_alt_imu(msg); altitudes->alt_barometric = mavlink_msg_altitudes_get_alt_barometric(msg); altitudes->alt_optical_flow = mavlink_msg_altitudes_get_alt_optical_flow(msg); altitudes->alt_range_finder = mavlink_msg_altitudes_get_alt_range_finder(msg); altitudes->alt_extra = mavlink_msg_altitudes_get_alt_extra(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_ALTITUDES_LEN? msg->len : MAVLINK_MSG_ID_ALTITUDES_LEN; memset(altitudes, 0, MAVLINK_MSG_ID_ALTITUDES_LEN); memcpy(altitudes, _MAV_PAYLOAD(msg), len); #endif }