#pragma once // MESSAGE RADIO PACKING #define MAVLINK_MSG_ID_RADIO 166 typedef struct __mavlink_radio_t { uint16_t rxerrors; /*< Receive errors.*/ uint16_t fixed; /*< Count of error corrected packets.*/ uint8_t rssi; /*< Local signal strength.*/ uint8_t remrssi; /*< Remote signal strength.*/ uint8_t txbuf; /*< [%] How full the tx buffer is.*/ uint8_t noise; /*< Background noise level.*/ uint8_t remnoise; /*< Remote background noise level.*/ } mavlink_radio_t; #define MAVLINK_MSG_ID_RADIO_LEN 9 #define MAVLINK_MSG_ID_RADIO_MIN_LEN 9 #define MAVLINK_MSG_ID_166_LEN 9 #define MAVLINK_MSG_ID_166_MIN_LEN 9 #define MAVLINK_MSG_ID_RADIO_CRC 21 #define MAVLINK_MSG_ID_166_CRC 21 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_RADIO { \ 166, \ "RADIO", \ 7, \ { { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \ { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \ { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \ { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \ { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \ { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \ { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_RADIO { \ "RADIO", \ 7, \ { { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \ { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \ { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \ { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \ { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \ { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \ { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \ } \ } #endif /** * @brief Pack a radio message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param rssi Local signal strength. * @param remrssi Remote signal strength. * @param txbuf [%] How full the tx buffer is. * @param noise Background noise level. * @param remnoise Remote background noise level. * @param rxerrors Receive errors. * @param fixed Count of error corrected packets. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); _mav_put_uint8_t(buf, 5, remrssi); _mav_put_uint8_t(buf, 6, txbuf); _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; packet.fixed = fixed; packet.rssi = rssi; packet.remrssi = remrssi; packet.txbuf = txbuf; packet.noise = noise; packet.remnoise = remnoise; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RADIO; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); } /** * @brief Pack a radio message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * * @param rssi Local signal strength. * @param remrssi Remote signal strength. * @param txbuf [%] How full the tx buffer is. * @param noise Background noise level. * @param remnoise Remote background noise level. * @param rxerrors Receive errors. * @param fixed Count of error corrected packets. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_radio_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); _mav_put_uint8_t(buf, 5, remrssi); _mav_put_uint8_t(buf, 6, txbuf); _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; packet.fixed = fixed; packet.rssi = rssi; packet.remrssi = remrssi; packet.txbuf = txbuf; packet.noise = noise; packet.remnoise = remnoise; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RADIO; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN); #endif } /** * @brief Pack a radio message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param rssi Local signal strength. * @param remrssi Remote signal strength. * @param txbuf [%] How full the tx buffer is. * @param noise Background noise level. * @param remnoise Remote background noise level. * @param rxerrors Receive errors. * @param fixed Count of error corrected packets. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); _mav_put_uint8_t(buf, 5, remrssi); _mav_put_uint8_t(buf, 6, txbuf); _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; packet.fixed = fixed; packet.rssi = rssi; packet.remrssi = remrssi; packet.txbuf = txbuf; packet.noise = noise; packet.remnoise = remnoise; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RADIO; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); } /** * @brief Encode a radio struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param radio C-struct to read the message contents from */ static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio) { return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); } /** * @brief Encode a radio struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param radio C-struct to read the message contents from */ static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio) { return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); } /** * @brief Encode a radio struct with provided status structure * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * @param radio C-struct to read the message contents from */ static inline uint16_t mavlink_msg_radio_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_radio_t* radio) { return mavlink_msg_radio_pack_status(system_id, component_id, _status, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); } /** * @brief Send a radio message * @param chan MAVLink channel to send the message * * @param rssi Local signal strength. * @param remrssi Remote signal strength. * @param txbuf [%] How full the tx buffer is. * @param noise Background noise level. * @param remnoise Remote background noise level. * @param rxerrors Receive errors. * @param fixed Count of error corrected packets. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); _mav_put_uint8_t(buf, 5, remrssi); _mav_put_uint8_t(buf, 6, txbuf); _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; packet.fixed = fixed; packet.rssi = rssi; packet.remrssi = remrssi; packet.txbuf = txbuf; packet.noise = noise; packet.remnoise = remnoise; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #endif } /** * @brief Send a radio message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_radio_send_struct(mavlink_channel_t chan, const mavlink_radio_t* radio) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_radio_send(chan, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)radio, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #endif } #if MAVLINK_MSG_ID_RADIO_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_radio_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); _mav_put_uint8_t(buf, 5, remrssi); _mav_put_uint8_t(buf, 6, txbuf); _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #else mavlink_radio_t *packet = (mavlink_radio_t *)msgbuf; packet->rxerrors = rxerrors; packet->fixed = fixed; packet->rssi = rssi; packet->remrssi = remrssi; packet->txbuf = txbuf; packet->noise = noise; packet->remnoise = remnoise; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); #endif } #endif #endif // MESSAGE RADIO UNPACKING /** * @brief Get field rssi from radio message * * @return Local signal strength. */ static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 4); } /** * @brief Get field remrssi from radio message * * @return Remote signal strength. */ static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 5); } /** * @brief Get field txbuf from radio message * * @return [%] How full the tx buffer is. */ static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 6); } /** * @brief Get field noise from radio message * * @return Background noise level. */ static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 7); } /** * @brief Get field remnoise from radio message * * @return Remote background noise level. */ static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 8); } /** * @brief Get field rxerrors from radio message * * @return Receive errors. */ static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 0); } /** * @brief Get field fixed from radio message * * @return Count of error corrected packets. */ static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 2); } /** * @brief Decode a radio message into a struct * * @param msg The message to decode * @param radio C-struct to decode the message contents into */ static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg); radio->fixed = mavlink_msg_radio_get_fixed(msg); radio->rssi = mavlink_msg_radio_get_rssi(msg); radio->remrssi = mavlink_msg_radio_get_remrssi(msg); radio->txbuf = mavlink_msg_radio_get_txbuf(msg); radio->noise = mavlink_msg_radio_get_noise(msg); radio->remnoise = mavlink_msg_radio_get_remnoise(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_RADIO_LEN? msg->len : MAVLINK_MSG_ID_RADIO_LEN; memset(radio, 0, MAVLINK_MSG_ID_RADIO_LEN); memcpy(radio, _MAV_PAYLOAD(msg), len); #endif }