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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE HEARTBEAT PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_HEARTBEAT 0 |
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| 4 | |||
| 5 | typedef struct __mavlink_heartbeat_t |
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| 6 | { |
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| 7 | uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags. |
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| 8 | uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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| 9 | uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
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| 10 | uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
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| 11 | uint8_t system_status; ///< System status flag, see MAV_STATE ENUM |
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| 12 | uint8_t mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version |
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| 13 | } mavlink_heartbeat_t; |
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| 14 | |||
| 15 | #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9 |
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| 16 | #define MAVLINK_MSG_ID_0_LEN 9 |
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| 17 | |||
| 18 | |||
| 19 | |||
| 20 | #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ |
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| 21 | "HEARTBEAT", \ |
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| 22 | 6, \ |
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| 23 | { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \ |
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| 24 | { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \ |
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| 25 | { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \ |
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| 26 | { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \ |
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| 27 | { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \ |
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| 28 | { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ |
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| 29 | } \ |
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| 30 | } |
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| 31 | |||
| 32 | |||
| 33 | /** |
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| 34 | * @brief Pack a heartbeat message |
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| 35 | * @param system_id ID of this system |
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| 36 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 37 | * @param msg The MAVLink message to compress the data into |
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| 38 | * |
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| 39 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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| 40 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
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| 41 | * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
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| 42 | * @param custom_mode A bitfield for use for autopilot-specific flags. |
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| 43 | * @param system_status System status flag, see MAV_STATE ENUM |
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| 44 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 45 | */ |
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| 46 | static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 47 | uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) |
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| 48 | { |
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| 49 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 50 | char buf[9]; |
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| 51 | _mav_put_uint32_t(buf, 0, custom_mode); |
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| 52 | _mav_put_uint8_t(buf, 4, type); |
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| 53 | _mav_put_uint8_t(buf, 5, autopilot); |
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| 54 | _mav_put_uint8_t(buf, 6, base_mode); |
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| 55 | _mav_put_uint8_t(buf, 7, system_status); |
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| 56 | _mav_put_uint8_t(buf, 8, 3); |
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| 57 | |||
| 58 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 59 | #else |
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| 60 | mavlink_heartbeat_t packet; |
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| 61 | packet.custom_mode = custom_mode; |
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| 62 | packet.type = type; |
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| 63 | packet.autopilot = autopilot; |
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| 64 | packet.base_mode = base_mode; |
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| 65 | packet.system_status = system_status; |
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| 66 | packet.mavlink_version = 3; |
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| 67 | |||
| 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 69 | #endif |
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| 70 | |||
| 71 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
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| 72 | return mavlink_finalize_message(msg, system_id, component_id, 9, 50); |
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| 73 | } |
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| 74 | |||
| 75 | /** |
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| 76 | * @brief Pack a heartbeat message on a channel |
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| 77 | * @param system_id ID of this system |
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| 78 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 79 | * @param chan The MAVLink channel this message was sent over |
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| 80 | * @param msg The MAVLink message to compress the data into |
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| 81 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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| 82 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
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| 83 | * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
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| 84 | * @param custom_mode A bitfield for use for autopilot-specific flags. |
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| 85 | * @param system_status System status flag, see MAV_STATE ENUM |
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| 86 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 87 | */ |
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| 88 | static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 89 | mavlink_message_t* msg, |
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| 90 | uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status) |
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| 91 | { |
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| 92 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 93 | char buf[9]; |
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| 94 | _mav_put_uint32_t(buf, 0, custom_mode); |
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| 95 | _mav_put_uint8_t(buf, 4, type); |
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| 96 | _mav_put_uint8_t(buf, 5, autopilot); |
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| 97 | _mav_put_uint8_t(buf, 6, base_mode); |
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| 98 | _mav_put_uint8_t(buf, 7, system_status); |
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| 99 | _mav_put_uint8_t(buf, 8, 3); |
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| 100 | |||
| 101 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
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| 102 | #else |
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| 103 | mavlink_heartbeat_t packet; |
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| 104 | packet.custom_mode = custom_mode; |
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| 105 | packet.type = type; |
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| 106 | packet.autopilot = autopilot; |
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| 107 | packet.base_mode = base_mode; |
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| 108 | packet.system_status = system_status; |
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| 109 | packet.mavlink_version = 3; |
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| 110 | |||
| 111 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
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| 112 | #endif |
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| 113 | |||
| 114 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
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| 115 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50); |
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| 116 | } |
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| 117 | |||
| 118 | /** |
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| 119 | * @brief Encode a heartbeat struct into a message |
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| 120 | * |
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| 121 | * @param system_id ID of this system |
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| 122 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 123 | * @param msg The MAVLink message to compress the data into |
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| 124 | * @param heartbeat C-struct to read the message contents from |
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| 125 | */ |
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| 126 | static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat) |
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| 127 | { |
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| 128 | return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status); |
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| 129 | } |
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| 130 | |||
| 131 | /** |
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| 132 | * @brief Send a heartbeat message |
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| 133 | * @param chan MAVLink channel to send the message |
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| 134 | * |
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| 135 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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| 136 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
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| 137 | * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
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| 138 | * @param custom_mode A bitfield for use for autopilot-specific flags. |
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| 139 | * @param system_status System status flag, see MAV_STATE ENUM |
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| 140 | */ |
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| 141 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 142 | |||
| 143 | static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) |
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| 144 | { |
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| 145 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 146 | char buf[9]; |
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| 147 | _mav_put_uint32_t(buf, 0, custom_mode); |
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| 148 | _mav_put_uint8_t(buf, 4, type); |
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| 149 | _mav_put_uint8_t(buf, 5, autopilot); |
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| 150 | _mav_put_uint8_t(buf, 6, base_mode); |
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| 151 | _mav_put_uint8_t(buf, 7, system_status); |
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| 152 | _mav_put_uint8_t(buf, 8, 3); |
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| 153 | |||
| 154 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50); |
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| 155 | #else |
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| 156 | mavlink_heartbeat_t packet; |
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| 157 | packet.custom_mode = custom_mode; |
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| 158 | packet.type = type; |
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| 159 | packet.autopilot = autopilot; |
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| 160 | packet.base_mode = base_mode; |
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| 161 | packet.system_status = system_status; |
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| 162 | packet.mavlink_version = 3; |
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| 163 | |||
| 164 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50); |
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| 165 | #endif |
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| 166 | } |
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| 167 | |||
| 168 | #endif |
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| 169 | |||
| 170 | // MESSAGE HEARTBEAT UNPACKING |
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| 171 | |||
| 172 | |||
| 173 | /** |
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| 174 | * @brief Get field type from heartbeat message |
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| 175 | * |
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| 176 | * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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| 177 | */ |
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| 178 | static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) |
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| 179 | { |
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| 180 | return _MAV_RETURN_uint8_t(msg, 4); |
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| 181 | } |
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| 182 | |||
| 183 | /** |
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| 184 | * @brief Get field autopilot from heartbeat message |
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| 185 | * |
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| 186 | * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
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| 187 | */ |
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| 188 | static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) |
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| 189 | { |
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| 190 | return _MAV_RETURN_uint8_t(msg, 5); |
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| 191 | } |
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| 192 | |||
| 193 | /** |
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| 194 | * @brief Get field base_mode from heartbeat message |
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| 195 | * |
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| 196 | * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
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| 197 | */ |
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| 198 | static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg) |
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| 199 | { |
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| 200 | return _MAV_RETURN_uint8_t(msg, 6); |
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| 201 | } |
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| 202 | |||
| 203 | /** |
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| 204 | * @brief Get field custom_mode from heartbeat message |
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| 205 | * |
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| 206 | * @return A bitfield for use for autopilot-specific flags. |
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| 207 | */ |
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| 208 | static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg) |
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| 209 | { |
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| 210 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 211 | } |
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| 212 | |||
| 213 | /** |
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| 214 | * @brief Get field system_status from heartbeat message |
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| 215 | * |
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| 216 | * @return System status flag, see MAV_STATE ENUM |
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| 217 | */ |
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| 218 | static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg) |
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| 219 | { |
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| 220 | return _MAV_RETURN_uint8_t(msg, 7); |
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| 221 | } |
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| 222 | |||
| 223 | /** |
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| 224 | * @brief Get field mavlink_version from heartbeat message |
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| 225 | * |
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| 226 | * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version |
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| 227 | */ |
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| 228 | static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) |
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| 229 | { |
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| 230 | return _MAV_RETURN_uint8_t(msg, 8); |
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| 231 | } |
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| 232 | |||
| 233 | /** |
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| 234 | * @brief Decode a heartbeat message into a struct |
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| 235 | * |
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| 236 | * @param msg The message to decode |
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| 237 | * @param heartbeat C-struct to decode the message contents into |
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| 238 | */ |
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| 239 | static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) |
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| 240 | { |
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| 241 | #if MAVLINK_NEED_BYTE_SWAP |
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| 242 | heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg); |
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| 243 | heartbeat->type = mavlink_msg_heartbeat_get_type(msg); |
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| 244 | heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); |
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| 245 | heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg); |
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| 246 | heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg); |
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| 247 | heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); |
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| 248 | #else |
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| 249 | memcpy(heartbeat, _MAV_PAYLOAD(msg), 9); |
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| 250 | #endif |
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| 251 | } |