mirror of https://github.com/ArduPilot/ardupilot
186 lines
6.2 KiB
C
186 lines
6.2 KiB
C
// 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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uint8_t mavlink_version; ///< MAVLink version
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} mavlink_heartbeat_t;
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
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#define MAVLINK_MSG_ID_0_LEN 3
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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"HEARTBEAT", \
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3, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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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 msg The MAVLink message to compress the data into
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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,
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uint8_t type, uint8_t autopilot)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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memcpy(_MAV_PAYLOAD(msg), buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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memcpy(_MAV_PAYLOAD(msg), &packet, 3);
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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, 3);
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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 was sent over
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* @param msg The MAVLink message to compress the data into
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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_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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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memcpy(_MAV_PAYLOAD(msg), buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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memcpy(_MAV_PAYLOAD(msg), &packet, 3);
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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, 3);
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}
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/**
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* @brief Encode a heartbeat 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 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);
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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 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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*/
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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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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3);
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#endif
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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 _MAV_RETURN_uint8_t(msg, 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 _MAV_RETURN_uint8_t(msg, 1);
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}
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/**
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* @brief Get field mavlink_version from heartbeat message
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*
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* @return MAVLink version
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Decode a heartbeat message into a struct
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*
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* @param msg The message to decode
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* @param heartbeat C-struct to decode the message contents into
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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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#if MAVLINK_NEED_BYTE_SWAP
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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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heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
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#else
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memcpy(heartbeat, _MAV_PAYLOAD(msg), 3);
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#endif
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}
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