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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE RADIO PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_RADIO 166 |
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| 4 | |||
| 5 | typedef struct __mavlink_radio_t |
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| 6 | { |
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| 7 | uint16_t rxerrors; ///< receive errors |
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| 8 | uint16_t fixed; ///< count of error corrected packets |
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| 9 | uint8_t rssi; ///< local signal strength |
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| 10 | uint8_t remrssi; ///< remote signal strength |
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| 11 | uint8_t txbuf; ///< how full the tx buffer is as a percentage |
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| 12 | uint8_t noise; ///< background noise level |
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| 13 | uint8_t remnoise; ///< remote background noise level |
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| 14 | } mavlink_radio_t; |
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| 15 | |||
| 16 | #define MAVLINK_MSG_ID_RADIO_LEN 9 |
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| 17 | #define MAVLINK_MSG_ID_166_LEN 9 |
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| 18 | |||
| 19 | |||
| 20 | |||
| 21 | #define MAVLINK_MESSAGE_INFO_RADIO { \ |
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| 22 | "RADIO", \ |
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| 23 | 7, \ |
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| 24 | { { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \ |
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| 25 | { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \ |
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| 26 | { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \ |
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| 27 | { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \ |
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| 28 | { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \ |
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| 29 | { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \ |
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| 30 | { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \ |
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| 31 | } \ |
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| 32 | } |
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| 33 | |||
| 34 | |||
| 35 | /** |
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| 36 | * @brief Pack a radio message |
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| 37 | * @param system_id ID of this system |
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| 38 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 39 | * @param msg The MAVLink message to compress the data into |
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| 40 | * |
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| 41 | * @param rssi local signal strength |
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| 42 | * @param remrssi remote signal strength |
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| 43 | * @param txbuf how full the tx buffer is as a percentage |
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| 44 | * @param noise background noise level |
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| 45 | * @param remnoise remote background noise level |
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| 46 | * @param rxerrors receive errors |
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| 47 | * @param fixed count of error corrected packets |
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| 48 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 49 | */ |
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| 50 | static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 51 | uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) |
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| 52 | { |
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| 53 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 54 | char buf[9]; |
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| 55 | _mav_put_uint16_t(buf, 0, rxerrors); |
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| 56 | _mav_put_uint16_t(buf, 2, fixed); |
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| 57 | _mav_put_uint8_t(buf, 4, rssi); |
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| 58 | _mav_put_uint8_t(buf, 5, remrssi); |
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| 59 | _mav_put_uint8_t(buf, 6, txbuf); |
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| 60 | _mav_put_uint8_t(buf, 7, noise); |
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| 61 | _mav_put_uint8_t(buf, 8, remnoise); |
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| 62 | |||
| 63 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 64 | #else |
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| 65 | mavlink_radio_t packet; |
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| 66 | packet.rxerrors = rxerrors; |
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| 67 | packet.fixed = fixed; |
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| 68 | packet.rssi = rssi; |
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| 69 | packet.remrssi = remrssi; |
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| 70 | packet.txbuf = txbuf; |
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| 71 | packet.noise = noise; |
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| 72 | packet.remnoise = remnoise; |
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| 73 | |||
| 74 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 75 | #endif |
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| 76 | |||
| 77 | msg->msgid = MAVLINK_MSG_ID_RADIO; |
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| 78 | return mavlink_finalize_message(msg, system_id, component_id, 9, 21); |
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| 79 | } |
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| 80 | |||
| 81 | /** |
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| 82 | * @brief Pack a radio message on a channel |
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| 83 | * @param system_id ID of this system |
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| 84 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 85 | * @param chan The MAVLink channel this message was sent over |
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| 86 | * @param msg The MAVLink message to compress the data into |
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| 87 | * @param rssi local signal strength |
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| 88 | * @param remrssi remote signal strength |
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| 89 | * @param txbuf how full the tx buffer is as a percentage |
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| 90 | * @param noise background noise level |
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| 91 | * @param remnoise remote background noise level |
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| 92 | * @param rxerrors receive errors |
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| 93 | * @param fixed count of error corrected packets |
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| 94 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 95 | */ |
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| 96 | static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 97 | mavlink_message_t* msg, |
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| 98 | uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed) |
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| 99 | { |
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| 100 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 101 | char buf[9]; |
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| 102 | _mav_put_uint16_t(buf, 0, rxerrors); |
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| 103 | _mav_put_uint16_t(buf, 2, fixed); |
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| 104 | _mav_put_uint8_t(buf, 4, rssi); |
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| 105 | _mav_put_uint8_t(buf, 5, remrssi); |
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| 106 | _mav_put_uint8_t(buf, 6, txbuf); |
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| 107 | _mav_put_uint8_t(buf, 7, noise); |
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| 108 | _mav_put_uint8_t(buf, 8, remnoise); |
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| 109 | |||
| 110 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 111 | #else |
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| 112 | mavlink_radio_t packet; |
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| 113 | packet.rxerrors = rxerrors; |
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| 114 | packet.fixed = fixed; |
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| 115 | packet.rssi = rssi; |
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| 116 | packet.remrssi = remrssi; |
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| 117 | packet.txbuf = txbuf; |
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| 118 | packet.noise = noise; |
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| 119 | packet.remnoise = remnoise; |
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| 120 | |||
| 121 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 122 | #endif |
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| 123 | |||
| 124 | msg->msgid = MAVLINK_MSG_ID_RADIO; |
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| 125 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 21); |
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| 126 | } |
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| 127 | |||
| 128 | /** |
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| 129 | * @brief Encode a radio struct into a message |
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| 130 | * |
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| 131 | * @param system_id ID of this system |
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| 132 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 133 | * @param msg The MAVLink message to compress the data into |
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| 134 | * @param radio C-struct to read the message contents from |
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| 135 | */ |
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| 136 | static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio) |
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| 137 | { |
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| 138 | return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); |
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| 139 | } |
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| 140 | |||
| 141 | /** |
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| 142 | * @brief Send a radio message |
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| 143 | * @param chan MAVLink channel to send the message |
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| 144 | * |
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| 145 | * @param rssi local signal strength |
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| 146 | * @param remrssi remote signal strength |
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| 147 | * @param txbuf how full the tx buffer is as a percentage |
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| 148 | * @param noise background noise level |
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| 149 | * @param remnoise remote background noise level |
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| 150 | * @param rxerrors receive errors |
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| 151 | * @param fixed count of error corrected packets |
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| 152 | */ |
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| 153 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 154 | |||
| 155 | static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) |
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| 156 | { |
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| 157 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 158 | char buf[9]; |
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| 159 | _mav_put_uint16_t(buf, 0, rxerrors); |
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| 160 | _mav_put_uint16_t(buf, 2, fixed); |
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| 161 | _mav_put_uint8_t(buf, 4, rssi); |
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| 162 | _mav_put_uint8_t(buf, 5, remrssi); |
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| 163 | _mav_put_uint8_t(buf, 6, txbuf); |
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| 164 | _mav_put_uint8_t(buf, 7, noise); |
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| 165 | _mav_put_uint8_t(buf, 8, remnoise); |
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| 166 | |||
| 167 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, 9, 21); |
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| 168 | #else |
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| 169 | mavlink_radio_t packet; |
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| 170 | packet.rxerrors = rxerrors; |
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| 171 | packet.fixed = fixed; |
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| 172 | packet.rssi = rssi; |
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| 173 | packet.remrssi = remrssi; |
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| 174 | packet.txbuf = txbuf; |
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| 175 | packet.noise = noise; |
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| 176 | packet.remnoise = remnoise; |
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| 177 | |||
| 178 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, 9, 21); |
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| 179 | #endif |
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| 180 | } |
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| 181 | |||
| 182 | #endif |
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| 183 | |||
| 184 | // MESSAGE RADIO UNPACKING |
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| 185 | |||
| 186 | |||
| 187 | /** |
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| 188 | * @brief Get field rssi from radio message |
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| 189 | * |
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| 190 | * @return local signal strength |
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| 191 | */ |
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| 192 | static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg) |
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| 193 | { |
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| 194 | return _MAV_RETURN_uint8_t(msg, 4); |
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| 195 | } |
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| 196 | |||
| 197 | /** |
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| 198 | * @brief Get field remrssi from radio message |
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| 199 | * |
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| 200 | * @return remote signal strength |
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| 201 | */ |
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| 202 | static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg) |
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| 203 | { |
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| 204 | return _MAV_RETURN_uint8_t(msg, 5); |
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| 205 | } |
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| 206 | |||
| 207 | /** |
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| 208 | * @brief Get field txbuf from radio message |
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| 209 | * |
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| 210 | * @return how full the tx buffer is as a percentage |
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| 211 | */ |
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| 212 | static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg) |
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| 213 | { |
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| 214 | return _MAV_RETURN_uint8_t(msg, 6); |
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| 215 | } |
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| 216 | |||
| 217 | /** |
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| 218 | * @brief Get field noise from radio message |
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| 219 | * |
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| 220 | * @return background noise level |
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| 221 | */ |
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| 222 | static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg) |
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| 223 | { |
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| 224 | return _MAV_RETURN_uint8_t(msg, 7); |
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| 225 | } |
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| 226 | |||
| 227 | /** |
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| 228 | * @brief Get field remnoise from radio message |
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| 229 | * |
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| 230 | * @return remote background noise level |
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| 231 | */ |
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| 232 | static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg) |
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| 233 | { |
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| 234 | return _MAV_RETURN_uint8_t(msg, 8); |
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| 235 | } |
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| 236 | |||
| 237 | /** |
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| 238 | * @brief Get field rxerrors from radio message |
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| 239 | * |
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| 240 | * @return receive errors |
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| 241 | */ |
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| 242 | static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg) |
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| 243 | { |
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| 244 | return _MAV_RETURN_uint16_t(msg, 0); |
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| 245 | } |
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| 246 | |||
| 247 | /** |
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| 248 | * @brief Get field fixed from radio message |
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| 249 | * |
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| 250 | * @return count of error corrected packets |
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| 251 | */ |
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| 252 | static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg) |
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| 253 | { |
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| 254 | return _MAV_RETURN_uint16_t(msg, 2); |
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| 255 | } |
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| 256 | |||
| 257 | /** |
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| 258 | * @brief Decode a radio message into a struct |
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| 259 | * |
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| 260 | * @param msg The message to decode |
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| 261 | * @param radio C-struct to decode the message contents into |
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| 262 | */ |
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| 263 | static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio) |
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| 264 | { |
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| 265 | #if MAVLINK_NEED_BYTE_SWAP |
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| 266 | radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg); |
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| 267 | radio->fixed = mavlink_msg_radio_get_fixed(msg); |
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| 268 | radio->rssi = mavlink_msg_radio_get_rssi(msg); |
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| 269 | radio->remrssi = mavlink_msg_radio_get_remrssi(msg); |
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| 270 | radio->txbuf = mavlink_msg_radio_get_txbuf(msg); |
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| 271 | radio->noise = mavlink_msg_radio_get_noise(msg); |
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| 272 | radio->remnoise = mavlink_msg_radio_get_remnoise(msg); |
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| 273 | #else |
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| 274 | memcpy(radio, _MAV_PAYLOAD(msg), 9); |
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| 275 | #endif |
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| 276 | } |