msg_gps2_raw.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 GPS2_RAW PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Second GPS data. Coordinate frame is right-handed, Z-axis up (GPS frame).
*/
public class msg_gps2_raw extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_GPS2_RAW = 124;
    public static final int MAVLINK_MSG_LENGTH = 35;
    private static final long serialVersionUID = MAVLINK_MSG_ID_GPS2_RAW;


    
    /**
    * Timestamp (microseconds since UNIX epoch or microseconds since system boot)
    */
    public long time_usec;
    
    /**
    * Latitude (WGS84), in degrees * 1E7
    */
    public int lat;
    
    /**
    * Longitude (WGS84), in degrees * 1E7
    */
    public int lon;
    
    /**
    * Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
    */
    public int alt;
    
    /**
    * Age of DGPS info
    */
    public long dgps_age;
    
    /**
    * GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
    */
    public int eph;
    
    /**
    * GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
    */
    public int epv;
    
    /**
    * GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
    */
    public int vel;
    
    /**
    * Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    */
    public int cog;
    
    /**
    * 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
    */
    public short fix_type;
    
    /**
    * Number of satellites visible. If unknown, set to 255
    */
    public short satellites_visible;
    
    /**
    * Number of DGPS satellites
    */
    public short dgps_numch;
    

    /**
    * 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_GPS2_RAW;
        
        packet.payload.putUnsignedLong(time_usec);
        
        packet.payload.putInt(lat);
        
        packet.payload.putInt(lon);
        
        packet.payload.putInt(alt);
        
        packet.payload.putUnsignedInt(dgps_age);
        
        packet.payload.putUnsignedShort(eph);
        
        packet.payload.putUnsignedShort(epv);
        
        packet.payload.putUnsignedShort(vel);
        
        packet.payload.putUnsignedShort(cog);
        
        packet.payload.putUnsignedByte(fix_type);
        
        packet.payload.putUnsignedByte(satellites_visible);
        
        packet.payload.putUnsignedByte(dgps_numch);
        
        return packet;
    }

    /**
    * Decode a gps2_raw message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        this.lat = payload.getInt();
        
        this.lon = payload.getInt();
        
        this.alt = payload.getInt();
        
        this.dgps_age = payload.getUnsignedInt();
        
        this.eph = payload.getUnsignedShort();
        
        this.epv = payload.getUnsignedShort();
        
        this.vel = payload.getUnsignedShort();
        
        this.cog = payload.getUnsignedShort();
        
        this.fix_type = payload.getUnsignedByte();
        
        this.satellites_visible = payload.getUnsignedByte();
        
        this.dgps_numch = payload.getUnsignedByte();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_gps2_raw(){
        msgid = MAVLINK_MSG_ID_GPS2_RAW;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_gps2_raw(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_GPS2_RAW;
        unpack(mavLinkPacket.payload);
    }

                            
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_GPS2_RAW -"+" time_usec:"+time_usec+" lat:"+lat+" lon:"+lon+" alt:"+alt+" dgps_age:"+dgps_age+" eph:"+eph+" epv:"+epv+" vel:"+vel+" cog:"+cog+" fix_type:"+fix_type+" satellites_visible:"+satellites_visible+" dgps_numch:"+dgps_numch+"";
    }
}