mirror of https://github.com/OpenIPC/wiki.git
607 lines
27 KiB
C
607 lines
27 KiB
C
#pragma once
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// MESSAGE AIS_VESSEL PACKING
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#define MAVLINK_MSG_ID_AIS_VESSEL 301
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typedef struct __mavlink_ais_vessel_t {
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uint32_t MMSI; /*< Mobile Marine Service Identifier, 9 decimal digits*/
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int32_t lat; /*< [degE7] Latitude*/
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int32_t lon; /*< [degE7] Longitude*/
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uint16_t COG; /*< [cdeg] Course over ground*/
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uint16_t heading; /*< [cdeg] True heading*/
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uint16_t velocity; /*< [cm/s] Speed over ground*/
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uint16_t dimension_bow; /*< [m] Distance from lat/lon location to bow*/
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uint16_t dimension_stern; /*< [m] Distance from lat/lon location to stern*/
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uint16_t tslc; /*< [s] Time since last communication in seconds*/
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uint16_t flags; /*< Bitmask to indicate various statuses including valid data fields*/
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int8_t turn_rate; /*< [cdeg/s] Turn rate*/
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uint8_t navigational_status; /*< Navigational status*/
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uint8_t type; /*< Type of vessels*/
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uint8_t dimension_port; /*< [m] Distance from lat/lon location to port side*/
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uint8_t dimension_starboard; /*< [m] Distance from lat/lon location to starboard side*/
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char callsign[7]; /*< The vessel callsign*/
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char name[20]; /*< The vessel name*/
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} mavlink_ais_vessel_t;
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#define MAVLINK_MSG_ID_AIS_VESSEL_LEN 58
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#define MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN 58
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#define MAVLINK_MSG_ID_301_LEN 58
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#define MAVLINK_MSG_ID_301_MIN_LEN 58
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#define MAVLINK_MSG_ID_AIS_VESSEL_CRC 243
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#define MAVLINK_MSG_ID_301_CRC 243
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#define MAVLINK_MSG_AIS_VESSEL_FIELD_CALLSIGN_LEN 7
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#define MAVLINK_MSG_AIS_VESSEL_FIELD_NAME_LEN 20
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_AIS_VESSEL { \
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301, \
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"AIS_VESSEL", \
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17, \
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{ { "MMSI", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ais_vessel_t, MMSI) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_ais_vessel_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_ais_vessel_t, lon) }, \
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{ "COG", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_ais_vessel_t, COG) }, \
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{ "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_ais_vessel_t, heading) }, \
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{ "velocity", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_ais_vessel_t, velocity) }, \
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{ "turn_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 26, offsetof(mavlink_ais_vessel_t, turn_rate) }, \
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{ "navigational_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_ais_vessel_t, navigational_status) }, \
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{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_ais_vessel_t, type) }, \
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{ "dimension_bow", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_ais_vessel_t, dimension_bow) }, \
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{ "dimension_stern", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ais_vessel_t, dimension_stern) }, \
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{ "dimension_port", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_ais_vessel_t, dimension_port) }, \
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{ "dimension_starboard", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_ais_vessel_t, dimension_starboard) }, \
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{ "callsign", NULL, MAVLINK_TYPE_CHAR, 7, 31, offsetof(mavlink_ais_vessel_t, callsign) }, \
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{ "name", NULL, MAVLINK_TYPE_CHAR, 20, 38, offsetof(mavlink_ais_vessel_t, name) }, \
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{ "tslc", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_ais_vessel_t, tslc) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_ais_vessel_t, flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_AIS_VESSEL { \
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"AIS_VESSEL", \
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17, \
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{ { "MMSI", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ais_vessel_t, MMSI) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_ais_vessel_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_ais_vessel_t, lon) }, \
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{ "COG", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_ais_vessel_t, COG) }, \
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{ "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_ais_vessel_t, heading) }, \
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{ "velocity", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_ais_vessel_t, velocity) }, \
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{ "turn_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 26, offsetof(mavlink_ais_vessel_t, turn_rate) }, \
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{ "navigational_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_ais_vessel_t, navigational_status) }, \
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{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_ais_vessel_t, type) }, \
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{ "dimension_bow", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_ais_vessel_t, dimension_bow) }, \
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{ "dimension_stern", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ais_vessel_t, dimension_stern) }, \
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{ "dimension_port", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_ais_vessel_t, dimension_port) }, \
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{ "dimension_starboard", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_ais_vessel_t, dimension_starboard) }, \
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{ "callsign", NULL, MAVLINK_TYPE_CHAR, 7, 31, offsetof(mavlink_ais_vessel_t, callsign) }, \
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{ "name", NULL, MAVLINK_TYPE_CHAR, 20, 38, offsetof(mavlink_ais_vessel_t, name) }, \
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{ "tslc", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_ais_vessel_t, tslc) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_ais_vessel_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 ais_vessel 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 MMSI Mobile Marine Service Identifier, 9 decimal digits
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param COG [cdeg] Course over ground
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* @param heading [cdeg] True heading
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* @param velocity [cm/s] Speed over ground
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* @param turn_rate [cdeg/s] Turn rate
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* @param navigational_status Navigational status
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* @param type Type of vessels
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* @param dimension_bow [m] Distance from lat/lon location to bow
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* @param dimension_stern [m] Distance from lat/lon location to stern
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* @param dimension_port [m] Distance from lat/lon location to port side
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* @param dimension_starboard [m] Distance from lat/lon location to starboard side
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* @param callsign The vessel callsign
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* @param name The vessel name
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* @param tslc [s] Time since last communication in seconds
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* @param flags Bitmask to indicate various statuses including valid data fields
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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_ais_vessel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t MMSI, int32_t lat, int32_t lon, uint16_t COG, uint16_t heading, uint16_t velocity, int8_t turn_rate, uint8_t navigational_status, uint8_t type, uint16_t dimension_bow, uint16_t dimension_stern, uint8_t dimension_port, uint8_t dimension_starboard, const char *callsign, const char *name, uint16_t tslc, uint16_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_AIS_VESSEL_LEN];
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_mav_put_uint32_t(buf, 0, MMSI);
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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_uint16_t(buf, 12, COG);
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_mav_put_uint16_t(buf, 14, heading);
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_mav_put_uint16_t(buf, 16, velocity);
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_mav_put_uint16_t(buf, 18, dimension_bow);
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_mav_put_uint16_t(buf, 20, dimension_stern);
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_mav_put_uint16_t(buf, 22, tslc);
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_mav_put_uint16_t(buf, 24, flags);
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_mav_put_int8_t(buf, 26, turn_rate);
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_mav_put_uint8_t(buf, 27, navigational_status);
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_mav_put_uint8_t(buf, 28, type);
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_mav_put_uint8_t(buf, 29, dimension_port);
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_mav_put_uint8_t(buf, 30, dimension_starboard);
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_mav_put_char_array(buf, 31, callsign, 7);
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_mav_put_char_array(buf, 38, name, 20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIS_VESSEL_LEN);
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#else
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mavlink_ais_vessel_t packet;
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packet.MMSI = MMSI;
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packet.lat = lat;
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packet.lon = lon;
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packet.COG = COG;
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packet.heading = heading;
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packet.velocity = velocity;
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packet.dimension_bow = dimension_bow;
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packet.dimension_stern = dimension_stern;
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packet.tslc = tslc;
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packet.flags = flags;
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packet.turn_rate = turn_rate;
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packet.navigational_status = navigational_status;
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packet.type = type;
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packet.dimension_port = dimension_port;
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packet.dimension_starboard = dimension_starboard;
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mav_array_memcpy(packet.callsign, callsign, sizeof(char)*7);
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mav_array_memcpy(packet.name, name, sizeof(char)*20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIS_VESSEL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AIS_VESSEL;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
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}
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/**
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* @brief Pack a ais_vessel 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 MMSI Mobile Marine Service Identifier, 9 decimal digits
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param COG [cdeg] Course over ground
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* @param heading [cdeg] True heading
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* @param velocity [cm/s] Speed over ground
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* @param turn_rate [cdeg/s] Turn rate
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* @param navigational_status Navigational status
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* @param type Type of vessels
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* @param dimension_bow [m] Distance from lat/lon location to bow
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* @param dimension_stern [m] Distance from lat/lon location to stern
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* @param dimension_port [m] Distance from lat/lon location to port side
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* @param dimension_starboard [m] Distance from lat/lon location to starboard side
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* @param callsign The vessel callsign
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* @param name The vessel name
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* @param tslc [s] Time since last communication in seconds
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* @param flags Bitmask to indicate various statuses including valid data fields
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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_ais_vessel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint32_t MMSI,int32_t lat,int32_t lon,uint16_t COG,uint16_t heading,uint16_t velocity,int8_t turn_rate,uint8_t navigational_status,uint8_t type,uint16_t dimension_bow,uint16_t dimension_stern,uint8_t dimension_port,uint8_t dimension_starboard,const char *callsign,const char *name,uint16_t tslc,uint16_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_AIS_VESSEL_LEN];
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_mav_put_uint32_t(buf, 0, MMSI);
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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_uint16_t(buf, 12, COG);
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_mav_put_uint16_t(buf, 14, heading);
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_mav_put_uint16_t(buf, 16, velocity);
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_mav_put_uint16_t(buf, 18, dimension_bow);
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_mav_put_uint16_t(buf, 20, dimension_stern);
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_mav_put_uint16_t(buf, 22, tslc);
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_mav_put_uint16_t(buf, 24, flags);
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_mav_put_int8_t(buf, 26, turn_rate);
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_mav_put_uint8_t(buf, 27, navigational_status);
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_mav_put_uint8_t(buf, 28, type);
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_mav_put_uint8_t(buf, 29, dimension_port);
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_mav_put_uint8_t(buf, 30, dimension_starboard);
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_mav_put_char_array(buf, 31, callsign, 7);
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_mav_put_char_array(buf, 38, name, 20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIS_VESSEL_LEN);
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#else
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mavlink_ais_vessel_t packet;
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packet.MMSI = MMSI;
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packet.lat = lat;
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packet.lon = lon;
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packet.COG = COG;
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packet.heading = heading;
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packet.velocity = velocity;
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packet.dimension_bow = dimension_bow;
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packet.dimension_stern = dimension_stern;
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packet.tslc = tslc;
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packet.flags = flags;
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packet.turn_rate = turn_rate;
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packet.navigational_status = navigational_status;
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packet.type = type;
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packet.dimension_port = dimension_port;
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packet.dimension_starboard = dimension_starboard;
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mav_array_memcpy(packet.callsign, callsign, sizeof(char)*7);
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mav_array_memcpy(packet.name, name, sizeof(char)*20);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIS_VESSEL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AIS_VESSEL;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
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}
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/**
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* @brief Encode a ais_vessel 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 ais_vessel C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ais_vessel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ais_vessel_t* ais_vessel)
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{
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return mavlink_msg_ais_vessel_pack(system_id, component_id, msg, ais_vessel->MMSI, ais_vessel->lat, ais_vessel->lon, ais_vessel->COG, ais_vessel->heading, ais_vessel->velocity, ais_vessel->turn_rate, ais_vessel->navigational_status, ais_vessel->type, ais_vessel->dimension_bow, ais_vessel->dimension_stern, ais_vessel->dimension_port, ais_vessel->dimension_starboard, ais_vessel->callsign, ais_vessel->name, ais_vessel->tslc, ais_vessel->flags);
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}
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/**
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* @brief Encode a ais_vessel 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 ais_vessel C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ais_vessel_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ais_vessel_t* ais_vessel)
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{
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return mavlink_msg_ais_vessel_pack_chan(system_id, component_id, chan, msg, ais_vessel->MMSI, ais_vessel->lat, ais_vessel->lon, ais_vessel->COG, ais_vessel->heading, ais_vessel->velocity, ais_vessel->turn_rate, ais_vessel->navigational_status, ais_vessel->type, ais_vessel->dimension_bow, ais_vessel->dimension_stern, ais_vessel->dimension_port, ais_vessel->dimension_starboard, ais_vessel->callsign, ais_vessel->name, ais_vessel->tslc, ais_vessel->flags);
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}
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/**
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* @brief Send a ais_vessel message
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* @param chan MAVLink channel to send the message
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*
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* @param MMSI Mobile Marine Service Identifier, 9 decimal digits
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param COG [cdeg] Course over ground
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* @param heading [cdeg] True heading
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* @param velocity [cm/s] Speed over ground
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* @param turn_rate [cdeg/s] Turn rate
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* @param navigational_status Navigational status
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* @param type Type of vessels
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* @param dimension_bow [m] Distance from lat/lon location to bow
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* @param dimension_stern [m] Distance from lat/lon location to stern
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* @param dimension_port [m] Distance from lat/lon location to port side
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* @param dimension_starboard [m] Distance from lat/lon location to starboard side
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* @param callsign The vessel callsign
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* @param name The vessel name
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* @param tslc [s] Time since last communication in seconds
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* @param flags Bitmask to indicate various statuses including valid data fields
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_ais_vessel_send(mavlink_channel_t chan, uint32_t MMSI, int32_t lat, int32_t lon, uint16_t COG, uint16_t heading, uint16_t velocity, int8_t turn_rate, uint8_t navigational_status, uint8_t type, uint16_t dimension_bow, uint16_t dimension_stern, uint8_t dimension_port, uint8_t dimension_starboard, const char *callsign, const char *name, uint16_t tslc, uint16_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_AIS_VESSEL_LEN];
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_mav_put_uint32_t(buf, 0, MMSI);
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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_uint16_t(buf, 12, COG);
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_mav_put_uint16_t(buf, 14, heading);
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_mav_put_uint16_t(buf, 16, velocity);
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_mav_put_uint16_t(buf, 18, dimension_bow);
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_mav_put_uint16_t(buf, 20, dimension_stern);
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_mav_put_uint16_t(buf, 22, tslc);
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_mav_put_uint16_t(buf, 24, flags);
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_mav_put_int8_t(buf, 26, turn_rate);
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_mav_put_uint8_t(buf, 27, navigational_status);
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_mav_put_uint8_t(buf, 28, type);
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_mav_put_uint8_t(buf, 29, dimension_port);
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_mav_put_uint8_t(buf, 30, dimension_starboard);
|
|
_mav_put_char_array(buf, 31, callsign, 7);
|
|
_mav_put_char_array(buf, 38, name, 20);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIS_VESSEL, buf, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
|
|
#else
|
|
mavlink_ais_vessel_t packet;
|
|
packet.MMSI = MMSI;
|
|
packet.lat = lat;
|
|
packet.lon = lon;
|
|
packet.COG = COG;
|
|
packet.heading = heading;
|
|
packet.velocity = velocity;
|
|
packet.dimension_bow = dimension_bow;
|
|
packet.dimension_stern = dimension_stern;
|
|
packet.tslc = tslc;
|
|
packet.flags = flags;
|
|
packet.turn_rate = turn_rate;
|
|
packet.navigational_status = navigational_status;
|
|
packet.type = type;
|
|
packet.dimension_port = dimension_port;
|
|
packet.dimension_starboard = dimension_starboard;
|
|
mav_array_memcpy(packet.callsign, callsign, sizeof(char)*7);
|
|
mav_array_memcpy(packet.name, name, sizeof(char)*20);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIS_VESSEL, (const char *)&packet, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a ais_vessel message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_ais_vessel_send_struct(mavlink_channel_t chan, const mavlink_ais_vessel_t* ais_vessel)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_ais_vessel_send(chan, ais_vessel->MMSI, ais_vessel->lat, ais_vessel->lon, ais_vessel->COG, ais_vessel->heading, ais_vessel->velocity, ais_vessel->turn_rate, ais_vessel->navigational_status, ais_vessel->type, ais_vessel->dimension_bow, ais_vessel->dimension_stern, ais_vessel->dimension_port, ais_vessel->dimension_starboard, ais_vessel->callsign, ais_vessel->name, ais_vessel->tslc, ais_vessel->flags);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIS_VESSEL, (const char *)ais_vessel, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_AIS_VESSEL_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_ais_vessel_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t MMSI, int32_t lat, int32_t lon, uint16_t COG, uint16_t heading, uint16_t velocity, int8_t turn_rate, uint8_t navigational_status, uint8_t type, uint16_t dimension_bow, uint16_t dimension_stern, uint8_t dimension_port, uint8_t dimension_starboard, const char *callsign, const char *name, uint16_t tslc, uint16_t flags)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, MMSI);
|
|
_mav_put_int32_t(buf, 4, lat);
|
|
_mav_put_int32_t(buf, 8, lon);
|
|
_mav_put_uint16_t(buf, 12, COG);
|
|
_mav_put_uint16_t(buf, 14, heading);
|
|
_mav_put_uint16_t(buf, 16, velocity);
|
|
_mav_put_uint16_t(buf, 18, dimension_bow);
|
|
_mav_put_uint16_t(buf, 20, dimension_stern);
|
|
_mav_put_uint16_t(buf, 22, tslc);
|
|
_mav_put_uint16_t(buf, 24, flags);
|
|
_mav_put_int8_t(buf, 26, turn_rate);
|
|
_mav_put_uint8_t(buf, 27, navigational_status);
|
|
_mav_put_uint8_t(buf, 28, type);
|
|
_mav_put_uint8_t(buf, 29, dimension_port);
|
|
_mav_put_uint8_t(buf, 30, dimension_starboard);
|
|
_mav_put_char_array(buf, 31, callsign, 7);
|
|
_mav_put_char_array(buf, 38, name, 20);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIS_VESSEL, buf, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
|
|
#else
|
|
mavlink_ais_vessel_t *packet = (mavlink_ais_vessel_t *)msgbuf;
|
|
packet->MMSI = MMSI;
|
|
packet->lat = lat;
|
|
packet->lon = lon;
|
|
packet->COG = COG;
|
|
packet->heading = heading;
|
|
packet->velocity = velocity;
|
|
packet->dimension_bow = dimension_bow;
|
|
packet->dimension_stern = dimension_stern;
|
|
packet->tslc = tslc;
|
|
packet->flags = flags;
|
|
packet->turn_rate = turn_rate;
|
|
packet->navigational_status = navigational_status;
|
|
packet->type = type;
|
|
packet->dimension_port = dimension_port;
|
|
packet->dimension_starboard = dimension_starboard;
|
|
mav_array_memcpy(packet->callsign, callsign, sizeof(char)*7);
|
|
mav_array_memcpy(packet->name, name, sizeof(char)*20);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIS_VESSEL, (const char *)packet, MAVLINK_MSG_ID_AIS_VESSEL_MIN_LEN, MAVLINK_MSG_ID_AIS_VESSEL_LEN, MAVLINK_MSG_ID_AIS_VESSEL_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE AIS_VESSEL UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field MMSI from ais_vessel message
|
|
*
|
|
* @return Mobile Marine Service Identifier, 9 decimal digits
|
|
*/
|
|
static inline uint32_t mavlink_msg_ais_vessel_get_MMSI(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from ais_vessel message
|
|
*
|
|
* @return [degE7] Latitude
|
|
*/
|
|
static inline int32_t mavlink_msg_ais_vessel_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lon from ais_vessel message
|
|
*
|
|
* @return [degE7] Longitude
|
|
*/
|
|
static inline int32_t mavlink_msg_ais_vessel_get_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field COG from ais_vessel message
|
|
*
|
|
* @return [cdeg] Course over ground
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_COG(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field heading from ais_vessel message
|
|
*
|
|
* @return [cdeg] True heading
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_heading(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field velocity from ais_vessel message
|
|
*
|
|
* @return [cm/s] Speed over ground
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_velocity(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field turn_rate from ais_vessel message
|
|
*
|
|
* @return [cdeg/s] Turn rate
|
|
*/
|
|
static inline int8_t mavlink_msg_ais_vessel_get_turn_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 26);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field navigational_status from ais_vessel message
|
|
*
|
|
* @return Navigational status
|
|
*/
|
|
static inline uint8_t mavlink_msg_ais_vessel_get_navigational_status(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 27);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field type from ais_vessel message
|
|
*
|
|
* @return Type of vessels
|
|
*/
|
|
static inline uint8_t mavlink_msg_ais_vessel_get_type(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field dimension_bow from ais_vessel message
|
|
*
|
|
* @return [m] Distance from lat/lon location to bow
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_dimension_bow(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field dimension_stern from ais_vessel message
|
|
*
|
|
* @return [m] Distance from lat/lon location to stern
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_dimension_stern(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field dimension_port from ais_vessel message
|
|
*
|
|
* @return [m] Distance from lat/lon location to port side
|
|
*/
|
|
static inline uint8_t mavlink_msg_ais_vessel_get_dimension_port(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 29);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field dimension_starboard from ais_vessel message
|
|
*
|
|
* @return [m] Distance from lat/lon location to starboard side
|
|
*/
|
|
static inline uint8_t mavlink_msg_ais_vessel_get_dimension_starboard(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 30);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field callsign from ais_vessel message
|
|
*
|
|
* @return The vessel callsign
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_callsign(const mavlink_message_t* msg, char *callsign)
|
|
{
|
|
return _MAV_RETURN_char_array(msg, callsign, 7, 31);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field name from ais_vessel message
|
|
*
|
|
* @return The vessel name
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_name(const mavlink_message_t* msg, char *name)
|
|
{
|
|
return _MAV_RETURN_char_array(msg, name, 20, 38);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field tslc from ais_vessel message
|
|
*
|
|
* @return [s] Time since last communication in seconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_tslc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flags from ais_vessel message
|
|
*
|
|
* @return Bitmask to indicate various statuses including valid data fields
|
|
*/
|
|
static inline uint16_t mavlink_msg_ais_vessel_get_flags(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a ais_vessel message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param ais_vessel C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_ais_vessel_decode(const mavlink_message_t* msg, mavlink_ais_vessel_t* ais_vessel)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
ais_vessel->MMSI = mavlink_msg_ais_vessel_get_MMSI(msg);
|
|
ais_vessel->lat = mavlink_msg_ais_vessel_get_lat(msg);
|
|
ais_vessel->lon = mavlink_msg_ais_vessel_get_lon(msg);
|
|
ais_vessel->COG = mavlink_msg_ais_vessel_get_COG(msg);
|
|
ais_vessel->heading = mavlink_msg_ais_vessel_get_heading(msg);
|
|
ais_vessel->velocity = mavlink_msg_ais_vessel_get_velocity(msg);
|
|
ais_vessel->dimension_bow = mavlink_msg_ais_vessel_get_dimension_bow(msg);
|
|
ais_vessel->dimension_stern = mavlink_msg_ais_vessel_get_dimension_stern(msg);
|
|
ais_vessel->tslc = mavlink_msg_ais_vessel_get_tslc(msg);
|
|
ais_vessel->flags = mavlink_msg_ais_vessel_get_flags(msg);
|
|
ais_vessel->turn_rate = mavlink_msg_ais_vessel_get_turn_rate(msg);
|
|
ais_vessel->navigational_status = mavlink_msg_ais_vessel_get_navigational_status(msg);
|
|
ais_vessel->type = mavlink_msg_ais_vessel_get_type(msg);
|
|
ais_vessel->dimension_port = mavlink_msg_ais_vessel_get_dimension_port(msg);
|
|
ais_vessel->dimension_starboard = mavlink_msg_ais_vessel_get_dimension_starboard(msg);
|
|
mavlink_msg_ais_vessel_get_callsign(msg, ais_vessel->callsign);
|
|
mavlink_msg_ais_vessel_get_name(msg, ais_vessel->name);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_AIS_VESSEL_LEN? msg->len : MAVLINK_MSG_ID_AIS_VESSEL_LEN;
|
|
memset(ais_vessel, 0, MAVLINK_MSG_ID_AIS_VESSEL_LEN);
|
|
memcpy(ais_vessel, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|