397 lines
18 KiB
C
397 lines
18 KiB
C
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#pragma once
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// MESSAGE HEARTBEAT PACKING
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#define MAVLINK_MSG_ID_HEARTBEAT 0
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typedef struct __mavlink_heartbeat_t {
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uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags*/
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uint8_t type; /*< Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.*/
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uint8_t autopilot; /*< Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.*/
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uint8_t base_mode; /*< System mode bitmap.*/
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uint8_t system_status; /*< System status flag.*/
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uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
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} mavlink_heartbeat_t;
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
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#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
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#define MAVLINK_MSG_ID_0_LEN 9
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#define MAVLINK_MSG_ID_0_MIN_LEN 9
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#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
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#define MAVLINK_MSG_ID_0_CRC 50
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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0, \
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"HEARTBEAT", \
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6, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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"HEARTBEAT", \
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6, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a heartbeat 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 type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
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* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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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_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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}
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/**
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* @brief Pack a heartbeat 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 status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
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* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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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_heartbeat_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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}
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/**
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* @brief Pack a heartbeat 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 type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
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* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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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_heartbeat_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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uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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}
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/**
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* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Encode a heartbeat struct with provided status structure
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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 status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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* @param heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack_status(system_id, component_id, _status, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Send a heartbeat message
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* @param chan MAVLink channel to send the message
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*
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* @param type Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
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* @param autopilot Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#endif
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}
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/**
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* @brief Send a heartbeat message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_HEARTBEAT_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_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint32_t(buf, 0, custom_mode);
|
||
|
|
_mav_put_uint8_t(buf, 4, type);
|
||
|
|
_mav_put_uint8_t(buf, 5, autopilot);
|
||
|
|
_mav_put_uint8_t(buf, 6, base_mode);
|
||
|
|
_mav_put_uint8_t(buf, 7, system_status);
|
||
|
|
_mav_put_uint8_t(buf, 8, 3);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
|
||
|
|
packet->custom_mode = custom_mode;
|
||
|
|
packet->type = type;
|
||
|
|
packet->autopilot = autopilot;
|
||
|
|
packet->base_mode = base_mode;
|
||
|
|
packet->system_status = system_status;
|
||
|
|
packet->mavlink_version = 3;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE HEARTBEAT UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field type from heartbeat message
|
||
|
|
*
|
||
|
|
* @return Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field autopilot from heartbeat message
|
||
|
|
*
|
||
|
|
* @return Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 5);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field base_mode from heartbeat message
|
||
|
|
*
|
||
|
|
* @return System mode bitmap.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 6);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field custom_mode from heartbeat message
|
||
|
|
*
|
||
|
|
* @return A bitfield for use for autopilot-specific flags
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field system_status from heartbeat message
|
||
|
|
*
|
||
|
|
* @return System status flag.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 7);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field mavlink_version from heartbeat message
|
||
|
|
*
|
||
|
|
* @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a heartbeat message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param heartbeat C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
|
||
|
|
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
|
||
|
|
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
|
||
|
|
heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
|
||
|
|
heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
|
||
|
|
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
|
||
|
|
memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
|
||
|
|
memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|