498 lines
26 KiB
C
Executable File
498 lines
26 KiB
C
Executable File
// MESSAGE SYS_STATUS PACKING
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#define MAVLINK_MSG_ID_SYS_STATUS 1
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typedef struct __mavlink_sys_status_t
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{
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uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt)
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int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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uint16_t drop_rate_comm; ///< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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uint16_t errors_comm; ///< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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uint16_t errors_count1; ///< Autopilot-specific errors
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uint16_t errors_count2; ///< Autopilot-specific errors
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uint16_t errors_count3; ///< Autopilot-specific errors
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uint16_t errors_count4; ///< Autopilot-specific errors
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int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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} mavlink_sys_status_t;
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#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
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#define MAVLINK_MSG_ID_1_LEN 31
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#define MAVLINK_MSG_ID_SYS_STATUS_CRC 124
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#define MAVLINK_MSG_ID_1_CRC 124
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#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
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"SYS_STATUS", \
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13, \
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{ { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
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{ "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
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{ "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
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{ "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
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{ "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
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{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
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{ "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
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{ "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
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{ "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
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{ "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
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{ "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
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{ "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
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{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
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} \
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}
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/**
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* @brief Pack a sys_status 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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_count1 Autopilot-specific errors
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* @param errors_count2 Autopilot-specific errors
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* @param errors_count3 Autopilot-specific errors
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* @param errors_count4 Autopilot-specific errors
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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_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
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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_SYS_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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_mav_put_uint16_t(buf, 12, load);
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_mav_put_uint16_t(buf, 14, voltage_battery);
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_mav_put_int16_t(buf, 16, current_battery);
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_mav_put_uint16_t(buf, 18, drop_rate_comm);
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_mav_put_uint16_t(buf, 20, errors_comm);
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_mav_put_uint16_t(buf, 22, errors_count1);
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_mav_put_uint16_t(buf, 24, errors_count2);
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_mav_put_uint16_t(buf, 26, errors_count3);
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_mav_put_uint16_t(buf, 28, errors_count4);
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_mav_put_int8_t(buf, 30, battery_remaining);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#else
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mavlink_sys_status_t packet;
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packet.onboard_control_sensors_present = onboard_control_sensors_present;
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packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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packet.onboard_control_sensors_health = onboard_control_sensors_health;
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packet.load = load;
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packet.voltage_battery = voltage_battery;
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packet.current_battery = current_battery;
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packet.drop_rate_comm = drop_rate_comm;
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packet.errors_comm = errors_comm;
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packet.errors_count1 = errors_count1;
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packet.errors_count2 = errors_count2;
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packet.errors_count3 = errors_count3;
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packet.errors_count4 = errors_count4;
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packet.battery_remaining = battery_remaining;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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}
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/**
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* @brief Pack a sys_status 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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_count1 Autopilot-specific errors
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* @param errors_count2 Autopilot-specific errors
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* @param errors_count3 Autopilot-specific errors
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* @param errors_count4 Autopilot-specific errors
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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_sys_status_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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uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4)
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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_SYS_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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_mav_put_uint16_t(buf, 12, load);
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_mav_put_uint16_t(buf, 14, voltage_battery);
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_mav_put_int16_t(buf, 16, current_battery);
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_mav_put_uint16_t(buf, 18, drop_rate_comm);
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_mav_put_uint16_t(buf, 20, errors_comm);
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_mav_put_uint16_t(buf, 22, errors_count1);
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_mav_put_uint16_t(buf, 24, errors_count2);
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_mav_put_uint16_t(buf, 26, errors_count3);
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_mav_put_uint16_t(buf, 28, errors_count4);
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_mav_put_int8_t(buf, 30, battery_remaining);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#else
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mavlink_sys_status_t packet;
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packet.onboard_control_sensors_present = onboard_control_sensors_present;
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packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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packet.onboard_control_sensors_health = onboard_control_sensors_health;
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packet.load = load;
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packet.voltage_battery = voltage_battery;
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packet.current_battery = current_battery;
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packet.drop_rate_comm = drop_rate_comm;
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packet.errors_comm = errors_comm;
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packet.errors_count1 = errors_count1;
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packet.errors_count2 = errors_count2;
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packet.errors_count3 = errors_count3;
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packet.errors_count4 = errors_count4;
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packet.battery_remaining = battery_remaining;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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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_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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}
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/**
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* @brief Encode a sys_status 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 sys_status C-struct to read the message contents from
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*/
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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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{
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return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
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}
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/**
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* @brief Encode a sys_status 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 sys_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
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{
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return mavlink_msg_sys_status_pack_chan(system_id, component_id, chan, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
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}
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/**
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* @brief Send a sys_status message
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* @param chan MAVLink channel to send the message
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*
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* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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* @param errors_count1 Autopilot-specific errors
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* @param errors_count2 Autopilot-specific errors
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* @param errors_count3 Autopilot-specific errors
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* @param errors_count4 Autopilot-specific errors
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
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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_SYS_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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_mav_put_uint16_t(buf, 12, load);
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_mav_put_uint16_t(buf, 14, voltage_battery);
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_mav_put_int16_t(buf, 16, current_battery);
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_mav_put_uint16_t(buf, 18, drop_rate_comm);
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_mav_put_uint16_t(buf, 20, errors_comm);
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_mav_put_uint16_t(buf, 22, errors_count1);
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_mav_put_uint16_t(buf, 24, errors_count2);
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_mav_put_uint16_t(buf, 26, errors_count3);
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_mav_put_uint16_t(buf, 28, errors_count4);
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_mav_put_int8_t(buf, 30, battery_remaining);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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#else
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mavlink_sys_status_t packet;
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packet.onboard_control_sensors_present = onboard_control_sensors_present;
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packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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packet.onboard_control_sensors_health = onboard_control_sensors_health;
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packet.load = load;
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packet.voltage_battery = voltage_battery;
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packet.current_battery = current_battery;
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packet.drop_rate_comm = drop_rate_comm;
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packet.errors_comm = errors_comm;
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packet.errors_count1 = errors_count1;
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packet.errors_count2 = errors_count2;
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packet.errors_count3 = errors_count3;
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packet.errors_count4 = errors_count4;
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packet.battery_remaining = battery_remaining;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_SYS_STATUS_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
|
|
incoming message with minimum stack space usage.
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|
*/
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|
static inline void mavlink_msg_sys_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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|
char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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|
_mav_put_uint16_t(buf, 12, load);
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|
_mav_put_uint16_t(buf, 14, voltage_battery);
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|
_mav_put_int16_t(buf, 16, current_battery);
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|
_mav_put_uint16_t(buf, 18, drop_rate_comm);
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|
_mav_put_uint16_t(buf, 20, errors_comm);
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|
_mav_put_uint16_t(buf, 22, errors_count1);
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|
_mav_put_uint16_t(buf, 24, errors_count2);
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|
_mav_put_uint16_t(buf, 26, errors_count3);
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|
_mav_put_uint16_t(buf, 28, errors_count4);
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|
_mav_put_int8_t(buf, 30, battery_remaining);
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
|
|
#endif
|
|
#else
|
|
mavlink_sys_status_t *packet = (mavlink_sys_status_t *)msgbuf;
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|
packet->onboard_control_sensors_present = onboard_control_sensors_present;
|
|
packet->onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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|
packet->onboard_control_sensors_health = onboard_control_sensors_health;
|
|
packet->load = load;
|
|
packet->voltage_battery = voltage_battery;
|
|
packet->current_battery = current_battery;
|
|
packet->drop_rate_comm = drop_rate_comm;
|
|
packet->errors_comm = errors_comm;
|
|
packet->errors_count1 = errors_count1;
|
|
packet->errors_count2 = errors_count2;
|
|
packet->errors_count3 = errors_count3;
|
|
packet->errors_count4 = errors_count4;
|
|
packet->battery_remaining = battery_remaining;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE SYS_STATUS UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_present from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_enabled from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_health from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field load from sys_status message
|
|
*
|
|
* @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field voltage_battery from sys_status message
|
|
*
|
|
* @return Battery voltage, in millivolts (1 = 1 millivolt)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field current_battery from sys_status message
|
|
*
|
|
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
*/
|
|
static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field battery_remaining from sys_status message
|
|
*
|
|
* @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
*/
|
|
static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 30);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field drop_rate_comm from sys_status message
|
|
*
|
|
* @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_comm from sys_status message
|
|
*
|
|
* @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count1 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count2 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count3 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 26);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count4 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a sys_status message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param sys_status C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
|
|
sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
|
|
sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
|
|
sys_status->load = mavlink_msg_sys_status_get_load(msg);
|
|
sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
|
|
sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
|
|
sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
|
|
sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
|
|
sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
|
|
sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
|
|
sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
|
|
sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
|
|
sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
|
|
#else
|
|
memcpy(sys_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYS_STATUS_LEN);
|
|
#endif
|
|
}
|