/* 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_RTK PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;
/**
* RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
*/
public class msg_gps2_rtk extends MAVLinkMessage{
public static final int MAVLINK_MSG_ID_GPS2_RTK = 128;
public static final int MAVLINK_MSG_LENGTH = 35;
private static final long serialVersionUID = MAVLINK_MSG_ID_GPS2_RTK;
/**
* Time since boot of last baseline message received in ms.
*/
public long time_last_baseline_ms;
/**
* GPS Time of Week of last baseline
*/
public long tow;
/**
* Current baseline in ECEF x or NED north component in mm.
*/
public int baseline_a_mm;
/**
* Current baseline in ECEF y or NED east component in mm.
*/
public int baseline_b_mm;
/**
* Current baseline in ECEF z or NED down component in mm.
*/
public int baseline_c_mm;
/**
* Current estimate of baseline accuracy.
*/
public long accuracy;
/**
* Current number of integer ambiguity hypotheses.
*/
public int iar_num_hypotheses;
/**
* GPS Week Number of last baseline
*/
public int wn;
/**
* Identification of connected RTK receiver.
*/
public short rtk_receiver_id;
/**
* GPS-specific health report for RTK data.
*/
public short rtk_health;
/**
* Rate of baseline messages being received by GPS, in HZ
*/
public short rtk_rate;
/**
* Current number of sats used for RTK calculation.
*/
public short nsats;
/**
* Coordinate system of baseline. 0 == ECEF, 1 == NED
*/
public short baseline_coords_type;
/**
* 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_RTK;
packet.payload.putUnsignedInt(time_last_baseline_ms);
packet.payload.putUnsignedInt(tow);
packet.payload.putInt(baseline_a_mm);
packet.payload.putInt(baseline_b_mm);
packet.payload.putInt(baseline_c_mm);
packet.payload.putUnsignedInt(accuracy);
packet.payload.putInt(iar_num_hypotheses);
packet.payload.putUnsignedShort(wn);
packet.payload.putUnsignedByte(rtk_receiver_id);
packet.payload.putUnsignedByte(rtk_health);
packet.payload.putUnsignedByte(rtk_rate);
packet.payload.putUnsignedByte(nsats);
packet.payload.putUnsignedByte(baseline_coords_type);
return packet;
}
/**
* Decode a gps2_rtk message into this class fields
*
* @param payload The message to decode
*/
public void unpack(MAVLinkPayload payload) {
payload.resetIndex();
this.time_last_baseline_ms = payload.getUnsignedInt();
this.tow = payload.getUnsignedInt();
this.baseline_a_mm = payload.getInt();
this.baseline_b_mm = payload.getInt();
this.baseline_c_mm = payload.getInt();
this.accuracy = payload.getUnsignedInt();
this.iar_num_hypotheses = payload.getInt();
this.wn = payload.getUnsignedShort();
this.rtk_receiver_id = payload.getUnsignedByte();
this.rtk_health = payload.getUnsignedByte();
this.rtk_rate = payload.getUnsignedByte();
this.nsats = payload.getUnsignedByte();
this.baseline_coords_type = payload.getUnsignedByte();
}
/**
* Constructor for a new message, just initializes the msgid
*/
public msg_gps2_rtk(){
msgid = MAVLINK_MSG_ID_GPS2_RTK;
}
/**
* Constructor for a new message, initializes the message with the payload
* from a mavlink packet
*
*/
public msg_gps2_rtk(MAVLinkPacket mavLinkPacket){
this.sysid = mavLinkPacket.sysid;
this.compid = mavLinkPacket.compid;
this.msgid = MAVLINK_MSG_ID_GPS2_RTK;
unpack(mavLinkPacket.payload);
}
/**
* Returns a string with the MSG name and data
*/
public String toString(){
return "MAVLINK_MSG_ID_GPS2_RTK -"+" time_last_baseline_ms:"+time_last_baseline_ms+" tow:"+tow+" baseline_a_mm:"+baseline_a_mm+" baseline_b_mm:"+baseline_b_mm+" baseline_c_mm:"+baseline_c_mm+" accuracy:"+accuracy+" iar_num_hypotheses:"+iar_num_hypotheses+" wn:"+wn+" rtk_receiver_id:"+rtk_receiver_id+" rtk_health:"+rtk_health+" rtk_rate:"+rtk_rate+" nsats:"+nsats+" baseline_coords_type:"+baseline_coords_type+"";
}
}