dbdabd8707
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
216 lines
9.9 KiB
C
216 lines
9.9 KiB
C
// MESSAGE SYS_STATUS PACKING
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#define MAVLINK_MSG_ID_SYS_STATUS 34
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typedef struct __mavlink_sys_status_t
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{
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uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
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uint8_t status; ///< System status flag, see MAV_STATUS ENUM
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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 vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
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uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
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uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
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} mavlink_sys_status_t;
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/**
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* @brief Pack a sys_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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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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 vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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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_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, uint16_t battery_remaining, uint16_t packet_drop)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
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i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
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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(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
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i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
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i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
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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 sys_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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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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 vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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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_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, uint16_t battery_remaining, uint16_t packet_drop)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
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i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
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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(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
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i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
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i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
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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 sys_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 sys_status C-struct to read the message contents from
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*/
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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)
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{
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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->battery_remaining, sys_status->packet_drop);
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}
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/**
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* @brief Send a sys_status message
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* @param chan MAVLink channel to send the message
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*
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* @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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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 vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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, uint16_t battery_remaining, uint16_t packet_drop)
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{
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mavlink_message_t msg;
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mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE SYS_STATUS UNPACKING
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/**
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* @brief Get field mode from sys_status message
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*
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* @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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*/
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static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field nav_mode from sys_status message
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*
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* @return Navigation mode, see MAV_NAV_MODE ENUM
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*/
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static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field status from sys_status message
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*
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* @return System status flag, see MAV_STATUS ENUM
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*/
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static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
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}
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/**
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* @brief Get field load from sys_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_sys_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+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_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 vbat from sys_status message
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*
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* @return Battery voltage, in millivolts (1 = 1 millivolt)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_vbat(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(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_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 battery_remaining from sys_status message
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*
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* @return Remaining battery energy: (0%: 0, 100%: 1000)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(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(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_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 packet_drop from sys_status message
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*
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* @return Dropped packets (packets that were corrupted on reception on the MAV)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_packet_drop(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(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
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r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_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 sys_status message into a struct
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*
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* @param msg The message to decode
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* @param sys_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
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{
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sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
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sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
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sys_status->status = mavlink_msg_sys_status_get_status(msg);
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sys_status->load = mavlink_msg_sys_status_get_load(msg);
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sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
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sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
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sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
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}
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