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| // MESSAGE HEARTBEAT PACKING |
| |
| #define MAVLINK_MSG_ID_HEARTBEAT 0 |
| |
| typedef struct __mavlink_heartbeat_t |
| { |
| uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags. |
| uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
| uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
| uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
| uint8_t system_status; ///< System status flag, see MAV_STATE ENUM |
| uint8_t mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version |
| } mavlink_heartbeat_t; |
| |
| #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9 |
| #define MAVLINK_MSG_ID_0_LEN 9 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \ |
| "HEARTBEAT", \ |
| 6, \ |
| { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \ |
| { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \ |
| { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \ |
| { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \ |
| { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \ |
| { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a heartbeat message |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * |
| * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
| * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
| * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
| * @param custom_mode A bitfield for use for autopilot-specific flags. |
| * @param system_status System status flag, see MAV_STATE ENUM |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[9]; |
| _mav_put_uint32_t(buf, 0, custom_mode); |
| _mav_put_uint8_t(buf, 4, type); |
| _mav_put_uint8_t(buf, 5, autopilot); |
| _mav_put_uint8_t(buf, 6, base_mode); |
| _mav_put_uint8_t(buf, 7, system_status); |
| _mav_put_uint8_t(buf, 8, 3); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
| #else |
| mavlink_heartbeat_t packet; |
| packet.custom_mode = custom_mode; |
| packet.type = type; |
| packet.autopilot = autopilot; |
| packet.base_mode = base_mode; |
| packet.system_status = system_status; |
| packet.mavlink_version = 3; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
| return mavlink_finalize_message(msg, system_id, component_id, 9, 50); |
| } |
| |
| /** |
| * @brief Pack a heartbeat message on a channel |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param chan The MAVLink channel this message was sent over |
| * @param msg The MAVLink message to compress the data into |
| * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
| * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
| * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
| * @param custom_mode A bitfield for use for autopilot-specific flags. |
| * @param system_status System status flag, see MAV_STATE ENUM |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[9]; |
| _mav_put_uint32_t(buf, 0, custom_mode); |
| _mav_put_uint8_t(buf, 4, type); |
| _mav_put_uint8_t(buf, 5, autopilot); |
| _mav_put_uint8_t(buf, 6, base_mode); |
| _mav_put_uint8_t(buf, 7, system_status); |
| _mav_put_uint8_t(buf, 8, 3); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); |
| #else |
| mavlink_heartbeat_t packet; |
| packet.custom_mode = custom_mode; |
| packet.type = type; |
| packet.autopilot = autopilot; |
| packet.base_mode = base_mode; |
| packet.system_status = system_status; |
| packet.mavlink_version = 3; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50); |
| } |
| |
| /** |
| * @brief Encode a heartbeat struct into a message |
| * |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * @param heartbeat C-struct to read the message contents from |
| */ |
| 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) |
| { |
| return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status); |
| } |
| |
| /** |
| * @brief Send a heartbeat message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
| * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
| * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
| * @param custom_mode A bitfield for use for autopilot-specific flags. |
| * @param system_status System status flag, see MAV_STATE ENUM |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| 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) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[9]; |
| _mav_put_uint32_t(buf, 0, custom_mode); |
| _mav_put_uint8_t(buf, 4, type); |
| _mav_put_uint8_t(buf, 5, autopilot); |
| _mav_put_uint8_t(buf, 6, base_mode); |
| _mav_put_uint8_t(buf, 7, system_status); |
| _mav_put_uint8_t(buf, 8, 3); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50); |
| #else |
| mavlink_heartbeat_t packet; |
| packet.custom_mode = custom_mode; |
| packet.type = type; |
| packet.autopilot = autopilot; |
| packet.base_mode = base_mode; |
| packet.system_status = system_status; |
| packet.mavlink_version = 3; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE HEARTBEAT UNPACKING |
| |
| |
| /** |
| * @brief Get field type from heartbeat message |
| * |
| * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
| */ |
| static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 4); |
| } |
| |
| /** |
| * @brief Get field autopilot from heartbeat message |
| * |
| * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM |
| */ |
| static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 5); |
| } |
| |
| /** |
| * @brief Get field base_mode from heartbeat message |
| * |
| * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h |
| */ |
| static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 6); |
| } |
| |
| /** |
| * @brief Get field custom_mode from heartbeat message |
| * |
| * @return A bitfield for use for autopilot-specific flags. |
| */ |
| static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint32_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field system_status from heartbeat message |
| * |
| * @return System status flag, see MAV_STATE ENUM |
| */ |
| static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 7); |
| } |
| |
| /** |
| * @brief Get field mavlink_version from heartbeat message |
| * |
| * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version |
| */ |
| static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 8); |
| } |
| |
| /** |
| * @brief Decode a heartbeat message into a struct |
| * |
| * @param msg The message to decode |
| * @param heartbeat C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg); |
| heartbeat->type = mavlink_msg_heartbeat_get_type(msg); |
| heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg); |
| heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg); |
| heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg); |
| heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg); |
| #else |
| memcpy(heartbeat, _MAV_PAYLOAD(msg), 9); |
| #endif |
| } |