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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE SYS_STATUS PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_SYS_STATUS 34 |
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| 4 | |||
| 5 | typedef struct __mavlink_sys_status_t |
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| 6 | { |
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| 7 | uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
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| 8 | uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM |
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| 9 | uint8_t status; ///< System status flag, see MAV_STATUS ENUM |
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| 10 | uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
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| 11 | uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt) |
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| 12 | uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000) |
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| 13 | uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV) |
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| 14 | } mavlink_sys_status_t; |
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| 15 | |||
| 16 | #define MAVLINK_MSG_ID_SYS_STATUS_LEN 11 |
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| 17 | #define MAVLINK_MSG_ID_34_LEN 11 |
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| 18 | |||
| 19 | |||
| 20 | |||
| 21 | #define MAVLINK_MESSAGE_INFO_SYS_STATUS { \ |
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| 22 | "SYS_STATUS", \ |
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| 23 | 7, \ |
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| 24 | { { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_status_t, mode) }, \ |
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| 25 | { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_status_t, nav_mode) }, \ |
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| 26 | { "status", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_status_t, status) }, \ |
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| 27 | { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_sys_status_t, load) }, \ |
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| 28 | { "vbat", NULL, MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_sys_status_t, vbat) }, \ |
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| 29 | { "battery_remaining", NULL, MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_sys_status_t, battery_remaining) }, \ |
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| 30 | { "packet_drop", NULL, MAVLINK_TYPE_UINT16_T, 0, 9, offsetof(mavlink_sys_status_t, packet_drop) }, \ |
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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 sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
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| 42 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
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| 43 | * @param status System status flag, see MAV_STATUS ENUM |
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| 44 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
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| 45 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
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| 46 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
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| 47 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
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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_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 51 | 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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| 52 | { |
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| 53 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 54 | char buf[11]; |
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| 55 | _mav_put_uint8_t(buf, 0, mode); |
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| 56 | _mav_put_uint8_t(buf, 1, nav_mode); |
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| 57 | _mav_put_uint8_t(buf, 2, status); |
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| 58 | _mav_put_uint16_t(buf, 3, load); |
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| 59 | _mav_put_uint16_t(buf, 5, vbat); |
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| 60 | _mav_put_uint16_t(buf, 7, battery_remaining); |
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| 61 | _mav_put_uint16_t(buf, 9, packet_drop); |
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| 62 | |||
| 63 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); |
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| 64 | #else |
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| 65 | mavlink_sys_status_t packet; |
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| 66 | packet.mode = mode; |
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| 67 | packet.nav_mode = nav_mode; |
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| 68 | packet.status = status; |
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| 69 | packet.load = load; |
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| 70 | packet.vbat = vbat; |
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| 71 | packet.battery_remaining = battery_remaining; |
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| 72 | packet.packet_drop = packet_drop; |
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| 73 | |||
| 74 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); |
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| 75 | #endif |
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| 76 | |||
| 77 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; |
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| 78 | return mavlink_finalize_message(msg, system_id, component_id, 11); |
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| 79 | } |
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| 80 | |||
| 81 | /** |
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| 82 | * @brief Pack a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
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| 88 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
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| 89 | * @param status System status flag, see MAV_STATUS ENUM |
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| 90 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
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| 91 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
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| 92 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
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| 93 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
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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_sys_status_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 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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| 99 | { |
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| 100 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 101 | char buf[11]; |
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| 102 | _mav_put_uint8_t(buf, 0, mode); |
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| 103 | _mav_put_uint8_t(buf, 1, nav_mode); |
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| 104 | _mav_put_uint8_t(buf, 2, status); |
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| 105 | _mav_put_uint16_t(buf, 3, load); |
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| 106 | _mav_put_uint16_t(buf, 5, vbat); |
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| 107 | _mav_put_uint16_t(buf, 7, battery_remaining); |
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| 108 | _mav_put_uint16_t(buf, 9, packet_drop); |
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| 109 | |||
| 110 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); |
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| 111 | #else |
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| 112 | mavlink_sys_status_t packet; |
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| 113 | packet.mode = mode; |
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| 114 | packet.nav_mode = nav_mode; |
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| 115 | packet.status = status; |
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| 116 | packet.load = load; |
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| 117 | packet.vbat = vbat; |
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| 118 | packet.battery_remaining = battery_remaining; |
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| 119 | packet.packet_drop = packet_drop; |
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| 120 | |||
| 121 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); |
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| 122 | #endif |
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| 123 | |||
| 124 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS; |
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| 125 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11); |
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| 126 | } |
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| 127 | |||
| 128 | /** |
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| 129 | * @brief Encode a sys_status 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 sys_status C-struct to read the message contents from |
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| 135 | */ |
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| 136 | 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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| 137 | { |
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| 138 | 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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| 139 | } |
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| 140 | |||
| 141 | /** |
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| 142 | * @brief Send a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
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| 146 | * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM |
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| 147 | * @param status System status flag, see MAV_STATUS ENUM |
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| 148 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
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| 149 | * @param vbat Battery voltage, in millivolts (1 = 1 millivolt) |
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| 150 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000) |
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| 151 | * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV) |
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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_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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| 156 | { |
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| 157 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 158 | char buf[11]; |
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| 159 | _mav_put_uint8_t(buf, 0, mode); |
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| 160 | _mav_put_uint8_t(buf, 1, nav_mode); |
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| 161 | _mav_put_uint8_t(buf, 2, status); |
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| 162 | _mav_put_uint16_t(buf, 3, load); |
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| 163 | _mav_put_uint16_t(buf, 5, vbat); |
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| 164 | _mav_put_uint16_t(buf, 7, battery_remaining); |
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| 165 | _mav_put_uint16_t(buf, 9, packet_drop); |
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| 166 | |||
| 167 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 11); |
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| 168 | #else |
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| 169 | mavlink_sys_status_t packet; |
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| 170 | packet.mode = mode; |
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| 171 | packet.nav_mode = nav_mode; |
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| 172 | packet.status = status; |
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| 173 | packet.load = load; |
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| 174 | packet.vbat = vbat; |
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| 175 | packet.battery_remaining = battery_remaining; |
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| 176 | packet.packet_drop = packet_drop; |
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| 177 | |||
| 178 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 11); |
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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 SYS_STATUS UNPACKING |
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| 185 | |||
| 186 | |||
| 187 | /** |
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| 188 | * @brief Get field mode from sys_status message |
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| 189 | * |
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| 190 | * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h |
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| 191 | */ |
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| 192 | static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg) |
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| 193 | { |
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| 194 | return _MAV_RETURN_uint8_t(msg, 0); |
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| 195 | } |
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| 196 | |||
| 197 | /** |
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| 198 | * @brief Get field nav_mode from sys_status message |
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| 199 | * |
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| 200 | * @return Navigation mode, see MAV_NAV_MODE ENUM |
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| 201 | */ |
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| 202 | static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg) |
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| 203 | { |
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| 204 | return _MAV_RETURN_uint8_t(msg, 1); |
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| 205 | } |
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| 206 | |||
| 207 | /** |
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| 208 | * @brief Get field status from sys_status message |
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| 209 | * |
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| 210 | * @return System status flag, see MAV_STATUS ENUM |
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| 211 | */ |
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| 212 | static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg) |
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| 213 | { |
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| 214 | return _MAV_RETURN_uint8_t(msg, 2); |
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| 215 | } |
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| 216 | |||
| 217 | /** |
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| 218 | * @brief Get field load from sys_status message |
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| 219 | * |
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| 220 | * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 |
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| 221 | */ |
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| 222 | static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg) |
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| 223 | { |
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| 224 | return _MAV_RETURN_uint16_t(msg, 3); |
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| 225 | } |
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| 226 | |||
| 227 | /** |
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| 228 | * @brief Get field vbat from sys_status message |
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| 229 | * |
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| 230 | * @return Battery voltage, in millivolts (1 = 1 millivolt) |
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| 231 | */ |
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| 232 | static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg) |
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| 233 | { |
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| 234 | return _MAV_RETURN_uint16_t(msg, 5); |
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| 235 | } |
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| 236 | |||
| 237 | /** |
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| 238 | * @brief Get field battery_remaining from sys_status message |
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| 239 | * |
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| 240 | * @return Remaining battery energy: (0%: 0, 100%: 1000) |
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| 241 | */ |
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| 242 | static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg) |
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| 243 | { |
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| 244 | return _MAV_RETURN_uint16_t(msg, 7); |
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| 245 | } |
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| 246 | |||
| 247 | /** |
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| 248 | * @brief Get field packet_drop from sys_status message |
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| 249 | * |
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| 250 | * @return Dropped packets (packets that were corrupted on reception on the MAV) |
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| 251 | */ |
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| 252 | static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg) |
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| 253 | { |
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| 254 | return _MAV_RETURN_uint16_t(msg, 9); |
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| 255 | } |
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| 256 | |||
| 257 | /** |
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| 258 | * @brief Decode a sys_status 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 sys_status C-struct to decode the message contents into |
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| 262 | */ |
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| 263 | static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status) |
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| 264 | { |
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| 265 | #if MAVLINK_NEED_BYTE_SWAP |
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| 266 | sys_status->mode = mavlink_msg_sys_status_get_mode(msg); |
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| 267 | sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg); |
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| 268 | sys_status->status = mavlink_msg_sys_status_get_status(msg); |
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| 269 | sys_status->load = mavlink_msg_sys_status_get_load(msg); |
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| 270 | sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg); |
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| 271 | sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg); |
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| 272 | sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg); |
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| 273 | #else |
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| 274 | memcpy(sys_status, _MAV_PAYLOAD(msg), 11); |
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| 275 | #endif |
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| 276 | } |