msg_global_position_int.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

// MESSAGE GLOBAL_POSITION_INT PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It
               is designed as scaled integer message since the resolution of float is not sufficient.
*/
public class msg_global_position_int extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33;
    public static final int MAVLINK_MSG_LENGTH = 28;
    private static final long serialVersionUID = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;


    
    /**
    * Timestamp (milliseconds since system boot)
    */
    public long time_boot_ms;
    
    /**
    * Latitude, expressed as * 1E7
    */
    public int lat;
    
    /**
    * Longitude, expressed as * 1E7
    */
    public int lon;
    
    /**
    * Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
    */
    public int alt;
    
    /**
    * Altitude above ground in meters, expressed as * 1000 (millimeters)
    */
    public int relative_alt;
    
    /**
    * Ground X Speed (Latitude), expressed as m/s * 100
    */
    public short vx;
    
    /**
    * Ground Y Speed (Longitude), expressed as m/s * 100
    */
    public short vy;
    
    /**
    * Ground Z Speed (Altitude), expressed as m/s * 100
    */
    public short vz;
    
    /**
    * Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    */
    public int hdg;
    

    /**
    * Generates the payload for a mavlink message for a message of this type
    * @return
    */
    public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
        
        packet.payload.putUnsignedInt(time_boot_ms);
        
        packet.payload.putInt(lat);
        
        packet.payload.putInt(lon);
        
        packet.payload.putInt(alt);
        
        packet.payload.putInt(relative_alt);
        
        packet.payload.putShort(vx);
        
        packet.payload.putShort(vy);
        
        packet.payload.putShort(vz);
        
        packet.payload.putUnsignedShort(hdg);
        
        return packet;
    }

    /**
    * Decode a global_position_int message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_boot_ms = payload.getUnsignedInt();
        
        this.lat = payload.getInt();
        
        this.lon = payload.getInt();
        
        this.alt = payload.getInt();
        
        this.relative_alt = payload.getInt();
        
        this.vx = payload.getShort();
        
        this.vy = payload.getShort();
        
        this.vz = payload.getShort();
        
        this.hdg = payload.getUnsignedShort();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_global_position_int(){
        msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_global_position_int(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
        unpack(mavLinkPacket.payload);
    }

                      
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_GLOBAL_POSITION_INT -"+" time_boot_ms:"+time_boot_ms+" lat:"+lat+" lon:"+lon+" alt:"+alt+" relative_alt:"+relative_alt+" vx:"+vx+" vy:"+vy+" vz:"+vz+" hdg:"+hdg+"";
    }
}