mirror of https://github.com/ArduPilot/ardupilot
211 lines
7.4 KiB
C
211 lines
7.4 KiB
C
// MESSAGE DIAGNOSTIC PACKING
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#define MAVLINK_MSG_ID_DIAGNOSTIC 173
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typedef struct __mavlink_diagnostic_t
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{
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float diagFl1; ///< Diagnostic float 1
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float diagFl2; ///< Diagnostic float 2
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float diagFl3; ///< Diagnostic float 3
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int16_t diagSh1; ///< Diagnostic short 1
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int16_t diagSh2; ///< Diagnostic short 2
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int16_t diagSh3; ///< Diagnostic short 3
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} mavlink_diagnostic_t;
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/**
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* @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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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_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
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i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1
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i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2
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i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3
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i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1
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i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2
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i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a diagnostic 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 chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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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_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
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i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1
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i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2
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i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3
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i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1
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i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2
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i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a diagnostic struct into a message
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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 diagnostic C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic)
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{
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return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
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}
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/**
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* @brief Send a diagnostic message
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* @param chan MAVLink channel to send the message
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*
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* @param diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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{
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mavlink_message_t msg;
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mavlink_msg_diagnostic_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE DIAGNOSTIC UNPACKING
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/**
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* @brief Get field diagFl1 from diagnostic message
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*
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* @return Diagnostic float 1
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload)[0];
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r.b[2] = (msg->payload)[1];
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r.b[1] = (msg->payload)[2];
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r.b[0] = (msg->payload)[3];
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return (float)r.f;
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}
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/**
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* @brief Get field diagFl2 from diagnostic message
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*
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* @return Diagnostic float 2
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field diagFl3 from diagnostic message
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*
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* @return Diagnostic float 3
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field diagSh1 from diagnostic message
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*
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* @return Diagnostic short 1
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
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return (int16_t)r.s;
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}
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/**
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* @brief Get field diagSh2 from diagnostic message
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*
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* @return Diagnostic short 2
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
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return (int16_t)r.s;
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}
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/**
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* @brief Get field diagSh3 from diagnostic message
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*
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* @return Diagnostic short 3
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg)
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{
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generic_16bit r;
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0];
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1];
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return (int16_t)r.s;
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}
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/**
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* @brief Decode a diagnostic message into a struct
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*
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* @param msg The message to decode
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* @param diagnostic C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic)
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{
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diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg);
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diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg);
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diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg);
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diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg);
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diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg);
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diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg);
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}
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