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Rev | Author | Line No. | Line |
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1702 | - | 1 | // MESSAGE COMMAND_ACK PACKING |
2 | |||
3 | #define MAVLINK_MSG_ID_COMMAND_ACK 77 |
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4 | |||
5 | typedef struct __mavlink_command_ack_t |
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6 | { |
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7 | uint16_t command; ///< Command ID, as defined by MAV_CMD enum. |
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8 | uint8_t result; ///< See MAV_RESULT enum |
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9 | } mavlink_command_ack_t; |
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10 | |||
11 | #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3 |
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12 | #define MAVLINK_MSG_ID_77_LEN 3 |
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13 | |||
14 | |||
15 | |||
16 | #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \ |
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17 | "COMMAND_ACK", \ |
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18 | 2, \ |
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19 | { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \ |
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20 | { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \ |
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21 | } \ |
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22 | } |
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23 | |||
24 | |||
25 | /** |
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26 | * @brief Pack a command_ack message |
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27 | * @param system_id ID of this system |
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28 | * @param component_id ID of this component (e.g. 200 for IMU) |
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29 | * @param msg The MAVLink message to compress the data into |
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30 | * |
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31 | * @param command Command ID, as defined by MAV_CMD enum. |
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32 | * @param result See MAV_RESULT enum |
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33 | * @return length of the message in bytes (excluding serial stream start sign) |
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34 | */ |
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35 | static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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36 | uint16_t command, uint8_t result) |
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37 | { |
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38 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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39 | char buf[3]; |
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40 | _mav_put_uint16_t(buf, 0, command); |
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41 | _mav_put_uint8_t(buf, 2, result); |
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42 | |||
43 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); |
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44 | #else |
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45 | mavlink_command_ack_t packet; |
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46 | packet.command = command; |
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47 | packet.result = result; |
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48 | |||
49 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); |
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50 | #endif |
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51 | |||
52 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; |
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53 | return mavlink_finalize_message(msg, system_id, component_id, 3, 143); |
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54 | } |
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55 | |||
56 | /** |
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57 | * @brief Pack a command_ack message on a channel |
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58 | * @param system_id ID of this system |
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59 | * @param component_id ID of this component (e.g. 200 for IMU) |
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60 | * @param chan The MAVLink channel this message was sent over |
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61 | * @param msg The MAVLink message to compress the data into |
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62 | * @param command Command ID, as defined by MAV_CMD enum. |
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63 | * @param result See MAV_RESULT enum |
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64 | * @return length of the message in bytes (excluding serial stream start sign) |
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65 | */ |
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66 | static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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67 | mavlink_message_t* msg, |
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68 | uint16_t command,uint8_t result) |
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69 | { |
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70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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71 | char buf[3]; |
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72 | _mav_put_uint16_t(buf, 0, command); |
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73 | _mav_put_uint8_t(buf, 2, result); |
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74 | |||
75 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3); |
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76 | #else |
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77 | mavlink_command_ack_t packet; |
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78 | packet.command = command; |
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79 | packet.result = result; |
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80 | |||
81 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3); |
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82 | #endif |
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83 | |||
84 | msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK; |
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85 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143); |
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86 | } |
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87 | |||
88 | /** |
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89 | * @brief Encode a command_ack struct into a message |
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90 | * |
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91 | * @param system_id ID of this system |
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92 | * @param component_id ID of this component (e.g. 200 for IMU) |
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93 | * @param msg The MAVLink message to compress the data into |
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94 | * @param command_ack C-struct to read the message contents from |
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95 | */ |
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96 | static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack) |
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97 | { |
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98 | return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result); |
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99 | } |
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100 | |||
101 | /** |
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102 | * @brief Send a command_ack message |
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103 | * @param chan MAVLink channel to send the message |
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104 | * |
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105 | * @param command Command ID, as defined by MAV_CMD enum. |
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106 | * @param result See MAV_RESULT enum |
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107 | */ |
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108 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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109 | |||
110 | static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result) |
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111 | { |
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112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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113 | char buf[3]; |
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114 | _mav_put_uint16_t(buf, 0, command); |
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115 | _mav_put_uint8_t(buf, 2, result); |
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116 | |||
117 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143); |
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118 | #else |
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119 | mavlink_command_ack_t packet; |
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120 | packet.command = command; |
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121 | packet.result = result; |
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122 | |||
123 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143); |
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124 | #endif |
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125 | } |
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126 | |||
127 | #endif |
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128 | |||
129 | // MESSAGE COMMAND_ACK UNPACKING |
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130 | |||
131 | |||
132 | /** |
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133 | * @brief Get field command from command_ack message |
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134 | * |
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135 | * @return Command ID, as defined by MAV_CMD enum. |
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136 | */ |
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137 | static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg) |
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138 | { |
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139 | return _MAV_RETURN_uint16_t(msg, 0); |
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140 | } |
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141 | |||
142 | /** |
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143 | * @brief Get field result from command_ack message |
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144 | * |
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145 | * @return See MAV_RESULT enum |
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146 | */ |
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147 | static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg) |
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148 | { |
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149 | return _MAV_RETURN_uint8_t(msg, 2); |
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150 | } |
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151 | |||
152 | /** |
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153 | * @brief Decode a command_ack message into a struct |
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154 | * |
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155 | * @param msg The message to decode |
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156 | * @param command_ack C-struct to decode the message contents into |
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157 | */ |
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158 | static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack) |
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159 | { |
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160 | #if MAVLINK_NEED_BYTE_SWAP |
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161 | command_ack->command = mavlink_msg_command_ack_get_command(msg); |
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162 | command_ack->result = mavlink_msg_command_ack_get_result(msg); |
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163 | #else |
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164 | memcpy(command_ack, _MAV_PAYLOAD(msg), 3); |
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165 | #endif |
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166 | } |