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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE DEBUG PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_DEBUG 254 |
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| 4 | |||
| 5 | typedef struct __mavlink_debug_t |
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| 6 | { |
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| 7 | uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) |
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| 8 | float value; ///< DEBUG value |
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| 9 | uint8_t ind; ///< index of debug variable |
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| 10 | } mavlink_debug_t; |
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| 11 | |||
| 12 | #define MAVLINK_MSG_ID_DEBUG_LEN 9 |
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| 13 | #define MAVLINK_MSG_ID_254_LEN 9 |
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| 14 | |||
| 15 | |||
| 16 | |||
| 17 | #define MAVLINK_MESSAGE_INFO_DEBUG { \ |
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| 18 | "DEBUG", \ |
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| 19 | 3, \ |
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| 20 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \ |
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| 21 | { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \ |
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| 22 | { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \ |
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| 23 | } \ |
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| 24 | } |
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| 25 | |||
| 26 | |||
| 27 | /** |
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| 28 | * @brief Pack a debug message |
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| 29 | * @param system_id ID of this system |
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| 30 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 31 | * @param msg The MAVLink message to compress the data into |
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| 32 | * |
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| 33 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 34 | * @param ind index of debug variable |
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| 35 | * @param value DEBUG value |
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| 36 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 37 | */ |
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| 38 | static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 39 | uint32_t time_boot_ms, uint8_t ind, float value) |
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| 40 | { |
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| 41 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 42 | char buf[9]; |
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| 43 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 44 | _mav_put_float(buf, 4, value); |
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| 45 | _mav_put_uint8_t(buf, 8, ind); |
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| 46 | |||
| 47 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 48 | #else |
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| 49 | mavlink_debug_t packet; |
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| 50 | packet.time_boot_ms = time_boot_ms; |
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| 51 | packet.value = value; |
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| 52 | packet.ind = ind; |
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| 53 | |||
| 54 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 55 | #endif |
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| 56 | |||
| 57 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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| 58 | return mavlink_finalize_message(msg, system_id, component_id, 9, 46); |
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| 59 | } |
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| 60 | |||
| 61 | /** |
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| 62 | * @brief Pack a debug message on a channel |
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| 63 | * @param system_id ID of this system |
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| 64 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 65 | * @param chan The MAVLink channel this message was sent over |
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| 66 | * @param msg The MAVLink message to compress the data into |
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| 67 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 68 | * @param ind index of debug variable |
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| 69 | * @param value DEBUG value |
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| 70 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 71 | */ |
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| 72 | static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 73 | mavlink_message_t* msg, |
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| 74 | uint32_t time_boot_ms,uint8_t ind,float value) |
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| 75 | { |
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| 76 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 77 | char buf[9]; |
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| 78 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 79 | _mav_put_float(buf, 4, value); |
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| 80 | _mav_put_uint8_t(buf, 8, ind); |
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| 81 | |||
| 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 83 | #else |
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| 84 | mavlink_debug_t packet; |
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| 85 | packet.time_boot_ms = time_boot_ms; |
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| 86 | packet.value = value; |
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| 87 | packet.ind = ind; |
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| 88 | |||
| 89 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 90 | #endif |
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| 91 | |||
| 92 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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| 93 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46); |
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| 94 | } |
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| 95 | |||
| 96 | /** |
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| 97 | * @brief Encode a debug struct into a message |
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| 98 | * |
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| 99 | * @param system_id ID of this system |
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| 100 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 101 | * @param msg The MAVLink message to compress the data into |
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| 102 | * @param debug C-struct to read the message contents from |
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| 103 | */ |
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| 104 | static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) |
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| 105 | { |
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| 106 | return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value); |
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| 107 | } |
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| 108 | |||
| 109 | /** |
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| 110 | * @brief Send a debug message |
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| 111 | * @param chan MAVLink channel to send the message |
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| 112 | * |
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| 113 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 114 | * @param ind index of debug variable |
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| 115 | * @param value DEBUG value |
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| 116 | */ |
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| 117 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 118 | |||
| 119 | static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) |
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| 120 | { |
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| 121 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 122 | char buf[9]; |
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| 123 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 124 | _mav_put_float(buf, 4, value); |
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| 125 | _mav_put_uint8_t(buf, 8, ind); |
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| 126 | |||
| 127 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 9, 46); |
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| 128 | #else |
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| 129 | mavlink_debug_t packet; |
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| 130 | packet.time_boot_ms = time_boot_ms; |
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| 131 | packet.value = value; |
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| 132 | packet.ind = ind; |
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| 133 | |||
| 134 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46); |
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| 135 | #endif |
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| 136 | } |
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| 137 | |||
| 138 | #endif |
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| 139 | |||
| 140 | // MESSAGE DEBUG UNPACKING |
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| 141 | |||
| 142 | |||
| 143 | /** |
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| 144 | * @brief Get field time_boot_ms from debug message |
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| 145 | * |
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| 146 | * @return Timestamp (milliseconds since system boot) |
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| 147 | */ |
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| 148 | static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg) |
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| 149 | { |
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| 150 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 151 | } |
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| 152 | |||
| 153 | /** |
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| 154 | * @brief Get field ind from debug message |
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| 155 | * |
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| 156 | * @return index of debug variable |
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| 157 | */ |
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| 158 | static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) |
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| 159 | { |
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| 160 | return _MAV_RETURN_uint8_t(msg, 8); |
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| 161 | } |
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| 162 | |||
| 163 | /** |
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| 164 | * @brief Get field value from debug message |
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| 165 | * |
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| 166 | * @return DEBUG value |
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| 167 | */ |
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| 168 | static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) |
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| 169 | { |
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| 170 | return _MAV_RETURN_float(msg, 4); |
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| 171 | } |
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| 172 | |||
| 173 | /** |
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| 174 | * @brief Decode a debug message into a struct |
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| 175 | * |
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| 176 | * @param msg The message to decode |
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| 177 | * @param debug C-struct to decode the message contents into |
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| 178 | */ |
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| 179 | static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) |
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| 180 | { |
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| 181 | #if MAVLINK_NEED_BYTE_SWAP |
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| 182 | debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg); |
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| 183 | debug->value = mavlink_msg_debug_get_value(msg); |
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| 184 | debug->ind = mavlink_msg_debug_get_ind(msg); |
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| 185 | #else |
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| 186 | memcpy(debug, _MAV_PAYLOAD(msg), 9); |
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| 187 | #endif |
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| 188 | } |