cbdf462acc
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
205 lines
8.9 KiB
C
205 lines
8.9 KiB
C
// MESSAGE AUX_STATUS PACKING
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#define MAVLINK_MSG_ID_AUX_STATUS 142
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typedef struct __mavlink_aux_status_t
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{
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uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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uint16_t i2c0_err_count; ///< Number of I2C errors since startup
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uint16_t i2c1_err_count; ///< Number of I2C errors since startup
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uint16_t spi0_err_count; ///< Number of I2C errors since startup
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uint16_t spi1_err_count; ///< Number of I2C errors since startup
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uint16_t uart_total_err_count; ///< Number of I2C errors since startup
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} mavlink_aux_status_t;
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/**
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* @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param i2c0_err_count Number of I2C errors since startup
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* @param i2c1_err_count Number of I2C errors since startup
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* @param spi0_err_count Number of I2C errors since startup
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* @param spi1_err_count Number of I2C errors since startup
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* @param uart_total_err_count Number of I2C errors since startup
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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_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
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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
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i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
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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 aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param i2c0_err_count Number of I2C errors since startup
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* @param i2c1_err_count Number of I2C errors since startup
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* @param spi0_err_count Number of I2C errors since startup
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* @param spi1_err_count Number of I2C errors since startup
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* @param uart_total_err_count Number of I2C errors since startup
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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_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
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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
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i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
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i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
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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 aux_status 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 aux_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status)
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{
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return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
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}
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/**
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* @brief Send a aux_status message
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* @param chan MAVLink channel to send the message
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*
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param i2c0_err_count Number of I2C errors since startup
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* @param i2c1_err_count Number of I2C errors since startup
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* @param spi0_err_count Number of I2C errors since startup
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* @param spi1_err_count Number of I2C errors since startup
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* @param uart_total_err_count Number of I2C errors since startup
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
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{
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mavlink_message_t msg;
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mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE AUX_STATUS UNPACKING
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/**
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* @brief Get field load from aux_status message
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*
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* @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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*/
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static inline uint16_t mavlink_msg_aux_status_get_load(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)[0];
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r.b[0] = (msg->payload)[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field i2c0_err_count from aux_status message
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*
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* @return Number of I2C errors since startup
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*/
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static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_count(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(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field i2c1_err_count from aux_status message
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*
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* @return Number of I2C errors since startup
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*/
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static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(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(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field spi0_err_count from aux_status message
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*
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* @return Number of I2C errors since startup
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*/
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static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(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(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field spi1_err_count from aux_status message
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*
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* @return Number of I2C errors since startup
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*/
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static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(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(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Get field uart_total_err_count from aux_status message
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*
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* @return Number of I2C errors since startup
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*/
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static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(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(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
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return (uint16_t)r.s;
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}
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/**
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* @brief Decode a aux_status message into a struct
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*
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* @param msg The message to decode
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* @param aux_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status)
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{
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aux_status->load = mavlink_msg_aux_status_get_load(msg);
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aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg);
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aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg);
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aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg);
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aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg);
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aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg);
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}
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