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

// MESSAGE SYS_STATUS PACKING

#define MAVLINK_MSG_ID_SYS_STATUS 34

typedef struct __mavlink_sys_status_t 
{
	uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
	uint8_t status; ///< System status flag, see MAV_STATUS ENUM
	uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
	uint8_t motor_block; ///< Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
	uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)

} mavlink_sys_status_t;



/**
 * @brief Send a sys_status message
 *
 * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
 * @param status System status flag, see MAV_STATUS ENUM
 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
 * @param motor_block Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
 * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint8_t motor_block, uint16_t packet_drop)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;

	i += put_uint8_t_by_index(mode, i, msg->payload); //System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	i += put_uint8_t_by_index(nav_mode, i, msg->payload); //Navigation mode, see MAV_NAV_MODE ENUM
	i += put_uint8_t_by_index(status, i, msg->payload); //System status flag, see MAV_STATUS ENUM
	i += put_uint16_t_by_index(load, i, msg->payload); //Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	i += put_uint16_t_by_index(vbat, i, msg->payload); //Battery voltage, in millivolts (1 = 1 millivolt)
	i += put_uint8_t_by_index(motor_block, i, msg->payload); //Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
	i += put_uint16_t_by_index(packet_drop, i, msg->payload); //Dropped packets (packets that were corrupted on reception on the MAV)

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

static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint8_t motor_block, uint16_t packet_drop)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;

	i += put_uint8_t_by_index(mode, i, msg->payload); //System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	i += put_uint8_t_by_index(nav_mode, i, msg->payload); //Navigation mode, see MAV_NAV_MODE ENUM
	i += put_uint8_t_by_index(status, i, msg->payload); //System status flag, see MAV_STATUS ENUM
	i += put_uint16_t_by_index(load, i, msg->payload); //Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	i += put_uint16_t_by_index(vbat, i, msg->payload); //Battery voltage, in millivolts (1 = 1 millivolt)
	i += put_uint8_t_by_index(motor_block, i, msg->payload); //Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
	i += put_uint16_t_by_index(packet_drop, i, msg->payload); //Dropped packets (packets that were corrupted on reception on the MAV)

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

static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
{
	return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->motor_block, sys_status->packet_drop);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint8_t motor_block, uint16_t packet_drop)
{
	mavlink_message_t msg;
	mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, motor_block, packet_drop);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE SYS_STATUS UNPACKING

/**
 * @brief Get field mode from sys_status message
 *
 * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 */
static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload)[0];
}

/**
 * @brief Get field nav_mode from sys_status message
 *
 * @return Navigation mode, see MAV_NAV_MODE ENUM
 */
static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}

/**
 * @brief Get field status from sys_status message
 *
 * @return System status flag, see MAV_STATUS ENUM
 */
static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
}

/**
 * @brief Get field load from sys_status message
 *
 * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 */
static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
{
	generic_16bit r;
	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
	return (uint16_t)r.s;
}

/**
 * @brief Get field vbat from sys_status message
 *
 * @return Battery voltage, in millivolts (1 = 1 millivolt)
 */
static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
{
	generic_16bit r;
	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
	return (uint16_t)r.s;
}

/**
 * @brief Get field motor_block from sys_status message
 *
 * @return Motor block status flag, 0: Motors can be switched on (and could be either off or on), 1: Mechanical motor block switch is on, motors cannot be switched on (and are definitely off)
 */
static inline uint8_t mavlink_msg_sys_status_get_motor_block(const mavlink_message_t* msg)
{
	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
}

/**
 * @brief Get field packet_drop from sys_status message
 *
 * @return Dropped packets (packets that were corrupted on reception on the MAV)
 */
static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
{
	generic_16bit r;
	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0];
	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[1];
	return (uint16_t)r.s;
}

static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
{
	sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
	sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
	sys_status->status = mavlink_msg_sys_status_get_status(msg);
	sys_status->load = mavlink_msg_sys_status_get_load(msg);
	sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
	sys_status->motor_block = mavlink_msg_sys_status_get_motor_block(msg);
	sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
}