Ardupilot2/libraries/GCS_MAVLink/include/common/mavlink_msg_set_mode.h

// MESSAGE SET_MODE PACKING

#define MAVLINK_MSG_ID_SET_MODE 11

typedef struct __mavlink_set_mode_t 
{
	uint8_t target; ///< The system setting the mode
	uint8_t mode; ///< The new mode

} mavlink_set_mode_t;



/**
 * @brief Pack a set_mode 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 target The system setting the mode
 * @param mode The new mode
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t mode)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SET_MODE;

	i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
	i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

/**
 * @brief Pack a set_mode message
 * @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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param target The system setting the mode
 * @param mode The new mode
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SET_MODE;

	i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode
	i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

/**
 * @brief Encode a set_mode struct into a 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 set_mode C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
{
	return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode);
}

/**
 * @brief Send a set_mode message
 * @param chan MAVLink channel to send the message
 *
 * @param target The system setting the mode
 * @param mode The new mode
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode)
{
	mavlink_message_t msg;
	mavlink_msg_set_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE SET_MODE UNPACKING

/**
 * @brief Get field target from set_mode message
 *
 * @return The system setting the mode
 */
static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload)[0];
}

/**
 * @brief Get field mode from set_mode message
 *
 * @return The new mode
 */
static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}

/**
 * @brief Decode a set_mode message into a struct
 *
 * @param msg The message to decode
 * @param set_mode C-struct to decode the message contents into
 */
static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
{
	set_mode->target = mavlink_msg_set_mode_get_target(msg);
	set_mode->mode = mavlink_msg_set_mode_get_mode(msg);
}