234 lines
8.1 KiB
C
Executable File
234 lines
8.1 KiB
C
Executable File
// MESSAGE COMMAND_ACK PACKING
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#define MAVLINK_MSG_ID_COMMAND_ACK 77
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typedef struct __mavlink_command_ack_t
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{
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uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
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uint8_t result; ///< See MAV_RESULT enum
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} mavlink_command_ack_t;
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#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
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#define MAVLINK_MSG_ID_77_LEN 3
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#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
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#define MAVLINK_MSG_ID_77_CRC 143
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#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
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"COMMAND_ACK", \
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2, \
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{ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
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{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
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} \
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}
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/**
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* @brief Pack a command_ack message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param result See MAV_RESULT enum
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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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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uint16_t command, uint8_t result)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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}
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/**
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* @brief Pack a command_ack message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param result See MAV_RESULT enum
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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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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mavlink_message_t* msg,
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uint16_t command,uint8_t result)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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}
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/**
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* @brief Encode a command_ack struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param command_ack C-struct to read the message contents from
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*/
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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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{
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return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
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}
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/**
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* @brief Encode a command_ack struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param command_ack C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
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{
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return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
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}
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/**
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* @brief Send a command_ack message
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* @param chan MAVLink channel to send the message
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*
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param result See MAV_RESULT enum
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command, uint8_t result)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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#else
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mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
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packet->command = command;
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packet->result = result;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE COMMAND_ACK UNPACKING
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/**
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* @brief Get field command from command_ack message
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*
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* @return Command ID, as defined by MAV_CMD enum.
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*/
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static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 0);
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}
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/**
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* @brief Get field result from command_ack message
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*
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* @return See MAV_RESULT enum
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*/
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static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Decode a command_ack message into a struct
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*
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* @param msg The message to decode
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* @param command_ack C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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command_ack->command = mavlink_msg_command_ack_get_command(msg);
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command_ack->result = mavlink_msg_command_ack_get_result(msg);
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#else
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memcpy(command_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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}
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