426 lines
18 KiB
C
Executable File
426 lines
18 KiB
C
Executable File
// MESSAGE SERVO_OUTPUT_RAW PACKING
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#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36
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typedef struct __mavlink_servo_output_raw_t
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{
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uint32_t time_usec; ///< Timestamp (microseconds since system boot)
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uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
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uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
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uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
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uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
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uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
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uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
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uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
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uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
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uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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} mavlink_servo_output_raw_t;
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#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21
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#define MAVLINK_MSG_ID_36_LEN 21
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#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC 222
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#define MAVLINK_MSG_ID_36_CRC 222
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#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
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"SERVO_OUTPUT_RAW", \
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10, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
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{ "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
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{ "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
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{ "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
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{ "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
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{ "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
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{ "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
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{ "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
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{ "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
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{ "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
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} \
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}
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/**
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* @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot)
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* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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* @param servo1_raw Servo output 1 value, in microseconds
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* @param servo2_raw Servo output 2 value, in microseconds
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* @param servo3_raw Servo output 3 value, in microseconds
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* @param servo4_raw Servo output 4 value, in microseconds
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* @param servo5_raw Servo output 5 value, in microseconds
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* @param servo6_raw Servo output 6 value, in microseconds
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* @param servo7_raw Servo output 7 value, in microseconds
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* @param servo8_raw Servo output 8 value, in microseconds
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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_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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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_SERVO_OUTPUT_RAW_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 4, servo1_raw);
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_mav_put_uint16_t(buf, 6, servo2_raw);
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_mav_put_uint16_t(buf, 8, servo3_raw);
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_mav_put_uint16_t(buf, 10, servo4_raw);
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_mav_put_uint16_t(buf, 12, servo5_raw);
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_mav_put_uint16_t(buf, 14, servo6_raw);
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_mav_put_uint16_t(buf, 16, servo7_raw);
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_mav_put_uint16_t(buf, 18, servo8_raw);
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_mav_put_uint8_t(buf, 20, port);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#else
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mavlink_servo_output_raw_t packet;
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packet.time_usec = time_usec;
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packet.servo1_raw = servo1_raw;
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packet.servo2_raw = servo2_raw;
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packet.servo3_raw = servo3_raw;
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packet.servo4_raw = servo4_raw;
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packet.servo5_raw = servo5_raw;
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packet.servo6_raw = servo6_raw;
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packet.servo7_raw = servo7_raw;
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packet.servo8_raw = servo8_raw;
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packet.port = port;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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}
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/**
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* @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot)
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* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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* @param servo1_raw Servo output 1 value, in microseconds
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* @param servo2_raw Servo output 2 value, in microseconds
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* @param servo3_raw Servo output 3 value, in microseconds
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* @param servo4_raw Servo output 4 value, in microseconds
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* @param servo5_raw Servo output 5 value, in microseconds
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* @param servo6_raw Servo output 6 value, in microseconds
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* @param servo7_raw Servo output 7 value, in microseconds
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* @param servo8_raw Servo output 8 value, in microseconds
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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_servo_output_raw_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 time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
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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_SERVO_OUTPUT_RAW_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 4, servo1_raw);
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_mav_put_uint16_t(buf, 6, servo2_raw);
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_mav_put_uint16_t(buf, 8, servo3_raw);
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_mav_put_uint16_t(buf, 10, servo4_raw);
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_mav_put_uint16_t(buf, 12, servo5_raw);
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_mav_put_uint16_t(buf, 14, servo6_raw);
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_mav_put_uint16_t(buf, 16, servo7_raw);
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_mav_put_uint16_t(buf, 18, servo8_raw);
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_mav_put_uint8_t(buf, 20, port);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#else
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mavlink_servo_output_raw_t packet;
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packet.time_usec = time_usec;
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packet.servo1_raw = servo1_raw;
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packet.servo2_raw = servo2_raw;
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packet.servo3_raw = servo3_raw;
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packet.servo4_raw = servo4_raw;
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packet.servo5_raw = servo5_raw;
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packet.servo6_raw = servo6_raw;
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packet.servo7_raw = servo7_raw;
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packet.servo8_raw = servo8_raw;
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packet.port = port;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
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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_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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}
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/**
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* @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
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{
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return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
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}
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/**
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* @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_servo_output_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
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{
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return mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, chan, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
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}
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/**
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* @brief Send a servo_output_raw message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds since system boot)
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* @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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* @param servo1_raw Servo output 1 value, in microseconds
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* @param servo2_raw Servo output 2 value, in microseconds
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* @param servo3_raw Servo output 3 value, in microseconds
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* @param servo4_raw Servo output 4 value, in microseconds
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* @param servo5_raw Servo output 5 value, in microseconds
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* @param servo6_raw Servo output 6 value, in microseconds
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* @param servo7_raw Servo output 7 value, in microseconds
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* @param servo8_raw Servo output 8 value, in microseconds
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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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_SERVO_OUTPUT_RAW_LEN];
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_mav_put_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 4, servo1_raw);
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_mav_put_uint16_t(buf, 6, servo2_raw);
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_mav_put_uint16_t(buf, 8, servo3_raw);
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_mav_put_uint16_t(buf, 10, servo4_raw);
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_mav_put_uint16_t(buf, 12, servo5_raw);
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_mav_put_uint16_t(buf, 14, servo6_raw);
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_mav_put_uint16_t(buf, 16, servo7_raw);
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_mav_put_uint16_t(buf, 18, servo8_raw);
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_mav_put_uint8_t(buf, 20, port);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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#else
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mavlink_servo_output_raw_t packet;
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packet.time_usec = time_usec;
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packet.servo1_raw = servo1_raw;
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packet.servo2_raw = servo2_raw;
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packet.servo3_raw = servo3_raw;
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packet.servo4_raw = servo4_raw;
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packet.servo5_raw = servo5_raw;
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packet.servo6_raw = servo6_raw;
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packet.servo7_raw = servo7_raw;
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packet.servo8_raw = servo8_raw;
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packet.port = port;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_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_servo_output_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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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_uint32_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 4, servo1_raw);
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_mav_put_uint16_t(buf, 6, servo2_raw);
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_mav_put_uint16_t(buf, 8, servo3_raw);
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_mav_put_uint16_t(buf, 10, servo4_raw);
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_mav_put_uint16_t(buf, 12, servo5_raw);
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_mav_put_uint16_t(buf, 14, servo6_raw);
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_mav_put_uint16_t(buf, 16, servo7_raw);
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_mav_put_uint16_t(buf, 18, servo8_raw);
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_mav_put_uint8_t(buf, 20, port);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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#endif
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#else
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mavlink_servo_output_raw_t *packet = (mavlink_servo_output_raw_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->servo1_raw = servo1_raw;
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packet->servo2_raw = servo2_raw;
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packet->servo3_raw = servo3_raw;
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packet->servo4_raw = servo4_raw;
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packet->servo5_raw = servo5_raw;
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packet->servo6_raw = servo6_raw;
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packet->servo7_raw = servo7_raw;
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packet->servo8_raw = servo8_raw;
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packet->port = port;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_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 SERVO_OUTPUT_RAW UNPACKING
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/**
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* @brief Get field time_usec from servo_output_raw message
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*
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* @return Timestamp (microseconds since system boot)
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*/
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static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field port from servo_output_raw message
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*
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* @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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*/
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static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 20);
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}
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/**
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* @brief Get field servo1_raw from servo_output_raw message
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*
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* @return Servo output 1 value, in microseconds
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*/
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static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo2_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 2 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 6);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo3_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 3 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo4_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 4 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 10);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo5_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 5 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo6_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 6 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo7_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 7 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field servo8_raw from servo_output_raw message
|
|
*
|
|
* @return Servo output 8 value, in microseconds
|
|
*/
|
|
static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a servo_output_raw message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param servo_output_raw C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg);
|
|
servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
|
|
servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
|
|
servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
|
|
servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
|
|
servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
|
|
servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
|
|
servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
|
|
servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
|
|
servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg);
|
|
#else
|
|
memcpy(servo_output_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
|
|
#endif
|
|
}
|