msg_gps_rtk.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 GPS_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_gps_rtk extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_GPS_RTK = 127;
    public static final int MAVLINK_MSG_LENGTH = 35;
    private static final long serialVersionUID = MAVLINK_MSG_ID_GPS_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_GPS_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 gps_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_gps_rtk(){
        msgid = MAVLINK_MSG_ID_GPS_RTK;
    }

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

                              
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_GPS_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+"";
    }
}