mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.8 KiB
C
74 lines
2.8 KiB
C
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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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{
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uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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} mavlink_heartbeat_t;
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/**
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* @brief Send a heartbeat message
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*
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* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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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, uint8_t type, uint8_t autopilot)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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i += put_uint8_t_by_index(type, i, msg->payload); //Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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i += put_uint8_t_by_index(autopilot, i, msg->payload); //Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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return mavlink_finalize_message(msg, system_id, component_id, i);
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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);
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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)
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{
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mavlink_message_t msg;
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mavlink_msg_heartbeat_pack(mavlink_system.sysid, mavlink_system.compid, &msg, type, autopilot);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE HEARTBEAT UNPACKING
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/**
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* @brief Get field type from heartbeat message
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*
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* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field autopilot from heartbeat message
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*
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* @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
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{
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heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
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heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
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}
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