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tk
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ceba245d46
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805b83f143
@ -5,10 +5,10 @@
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#ifndef MAVLINK_MAX_PAYLOAD_LEN
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// it is possible to override this, but be careful!
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#define MAVLINK_MAX_PAYLOAD_LEN 100 ///< Maximum payload length 255
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#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length 255
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#endif
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#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
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#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
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#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
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#define MAVLINK_NUM_CHECKSUM_BYTES 2
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#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
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@ -19,85 +19,91 @@
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#define MAVLINK_EXTENDED_HEADER_LEN 14
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#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
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/* full fledged 32bit++ OS */
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#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
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/* full fledged 32bit++ OS */
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#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
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#else
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/* small microcontrollers */
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#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
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/* small microcontrollers */
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#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
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#endif
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#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
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typedef struct param_union {
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union {
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float param_float;
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int32_t param_int32;
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uint32_t param_uint32;
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uint8_t param_uint8;
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uint8_t bytes[4];
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};
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uint8_t type;
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typedef struct param_union
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{
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union
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{
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float param_float;
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int32_t param_int32;
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uint32_t param_uint32;
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uint8_t param_uint8;
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uint8_t bytes[4];
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};
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uint8_t type;
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} mavlink_param_union_t;
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typedef struct __mavlink_system {
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uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t type; ///< Unused, can be used by user to store the system's type
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uint8_t state; ///< Unused, can be used by user to store the system's state
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uint8_t mode; ///< Unused, can be used by user to store the system's mode
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uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
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typedef struct __mavlink_system
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{
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uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t type; ///< Unused, can be used by user to store the system's type
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uint8_t state; ///< Unused, can be used by user to store the system's state
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uint8_t mode; ///< Unused, can be used by user to store the system's mode
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uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
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} mavlink_system_t;
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typedef struct __mavlink_message {
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uint16_t checksum; /// sent at end of packet
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uint8_t magic; ///< protocol magic marker
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uint8_t len; ///< Length of payload
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uint8_t seq; ///< Sequence of packet
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uint8_t sysid; ///< ID of message sender system/aircraft
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uint8_t compid; ///< ID of the message sender component
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uint8_t msgid; ///< ID of message in payload
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uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
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typedef struct __mavlink_message
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{
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uint16_t checksum; /// sent at end of packet
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uint8_t magic; ///< protocol magic marker
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uint8_t len; ///< Length of payload
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uint8_t seq; ///< Sequence of packet
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uint8_t sysid; ///< ID of message sender system/aircraft
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uint8_t compid; ///< ID of the message sender component
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uint8_t msgid; ///< ID of message in payload
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uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_CHECKSUM_BYTES + 7) / 8];
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} mavlink_message_t;
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typedef struct __mavlink_extended_message {
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mavlink_message_t base_msg;
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int32_t extended_payload_len; ///< Length of extended payload if any
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uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
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typedef struct __mavlink_extended_message
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{
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mavlink_message_t base_msg;
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int32_t extended_payload_len; ///< Length of extended payload if any
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uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
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} mavlink_extended_message_t;
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typedef enum {
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MAVLINK_TYPE_CHAR = 0,
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MAVLINK_TYPE_UINT8_T = 1,
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MAVLINK_TYPE_INT8_T = 2,
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MAVLINK_TYPE_UINT16_T = 3,
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MAVLINK_TYPE_INT16_T = 4,
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MAVLINK_TYPE_UINT32_T = 5,
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MAVLINK_TYPE_INT32_T = 6,
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MAVLINK_TYPE_UINT64_T = 7,
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MAVLINK_TYPE_INT64_T = 8,
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MAVLINK_TYPE_FLOAT = 9,
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MAVLINK_TYPE_DOUBLE = 10
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typedef enum
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{
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MAVLINK_TYPE_CHAR = 0,
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MAVLINK_TYPE_UINT8_T = 1,
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MAVLINK_TYPE_INT8_T = 2,
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MAVLINK_TYPE_UINT16_T = 3,
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MAVLINK_TYPE_INT16_T = 4,
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MAVLINK_TYPE_UINT32_T = 5,
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MAVLINK_TYPE_INT32_T = 6,
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MAVLINK_TYPE_UINT64_T = 7,
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MAVLINK_TYPE_INT64_T = 8,
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MAVLINK_TYPE_FLOAT = 9,
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MAVLINK_TYPE_DOUBLE = 10
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} mavlink_message_type_t;
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#define MAVLINK_MAX_FIELDS 64
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typedef struct __mavlink_field_info {
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const char *name; // name of this field
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const char *print_format; // printing format hint, or NULL
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mavlink_message_type_t type; // type of this field
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unsigned int array_length; // if non-zero, field is an array
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unsigned int wire_offset; // offset of each field in the payload
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unsigned int structure_offset; // offset in a C structure
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typedef struct __mavlink_field_info
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{
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const char *name; // name of this field
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const char *print_format; // printing format hint, or NULL
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mavlink_message_type_t type; // type of this field
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unsigned int array_length; // if non-zero, field is an array
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unsigned int wire_offset; // offset of each field in the payload
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unsigned int structure_offset; // offset in a C structure
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} mavlink_field_info_t;
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// note that in this structure the order of fields is the order
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// in the XML file, not necessary the wire order
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typedef struct __mavlink_message_info {
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const char *name; // name of the message
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unsigned num_fields; // how many fields in this message
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mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
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typedef struct __mavlink_message_info
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{
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const char *name; // name of the message
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unsigned num_fields; // how many fields in this message
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mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
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} mavlink_message_info_t;
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#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
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@ -105,13 +111,14 @@ typedef struct __mavlink_message_info {
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// checksum is immediately after the payload bytes
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#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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#define mavlink_ck_b(msg) *(((msg)->len + (uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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typedef enum {
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MAVLINK_COMM_0,
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MAVLINK_COMM_1,
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MAVLINK_COMM_2,
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MAVLINK_COMM_3
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typedef enum
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{
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MAVLINK_COMM_0,
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MAVLINK_COMM_1,
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MAVLINK_COMM_2,
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MAVLINK_COMM_3
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} mavlink_channel_t;
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/*
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@ -120,36 +127,38 @@ typedef enum {
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* a stack overrun
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*/
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#ifndef MAVLINK_COMM_NUM_BUFFERS
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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# define MAVLINK_COMM_NUM_BUFFERS 16
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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#define MAVLINK_COMM_NUM_BUFFERS 16
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#else
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# define MAVLINK_COMM_NUM_BUFFERS 4
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#define MAVLINK_COMM_NUM_BUFFERS 4
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#endif
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#endif
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typedef enum {
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MAVLINK_PARSE_STATE_UNINIT=0,
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MAVLINK_PARSE_STATE_IDLE,
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MAVLINK_PARSE_STATE_GOT_STX,
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MAVLINK_PARSE_STATE_GOT_SEQ,
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MAVLINK_PARSE_STATE_GOT_LENGTH,
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MAVLINK_PARSE_STATE_GOT_SYSID,
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MAVLINK_PARSE_STATE_GOT_COMPID,
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MAVLINK_PARSE_STATE_GOT_MSGID,
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MAVLINK_PARSE_STATE_GOT_PAYLOAD,
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MAVLINK_PARSE_STATE_GOT_CRC1
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typedef enum
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{
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MAVLINK_PARSE_STATE_UNINIT = 0,
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MAVLINK_PARSE_STATE_IDLE,
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MAVLINK_PARSE_STATE_GOT_STX,
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MAVLINK_PARSE_STATE_GOT_SEQ,
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MAVLINK_PARSE_STATE_GOT_LENGTH,
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MAVLINK_PARSE_STATE_GOT_SYSID,
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MAVLINK_PARSE_STATE_GOT_COMPID,
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MAVLINK_PARSE_STATE_GOT_MSGID,
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MAVLINK_PARSE_STATE_GOT_PAYLOAD,
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MAVLINK_PARSE_STATE_GOT_CRC1
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} mavlink_parse_state_t; ///< The state machine for the comm parser
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typedef struct __mavlink_status {
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uint8_t msg_received; ///< Number of received messages
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uint8_t buffer_overrun; ///< Number of buffer overruns
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uint8_t parse_error; ///< Number of parse errors
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mavlink_parse_state_t parse_state; ///< Parsing state machine
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uint8_t packet_idx; ///< Index in current packet
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uint8_t current_rx_seq; ///< Sequence number of last packet received
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uint8_t current_tx_seq; ///< Sequence number of last packet sent
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uint16_t packet_rx_success_count; ///< Received packets
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uint16_t packet_rx_drop_count; ///< Number of packet drops
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typedef struct __mavlink_status
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{
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uint8_t msg_received; ///< Number of received messages
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uint8_t buffer_overrun; ///< Number of buffer overruns
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uint8_t parse_error; ///< Number of parse errors
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mavlink_parse_state_t parse_state; ///< Parsing state machine
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uint8_t packet_idx; ///< Index in current packet
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uint8_t current_rx_seq; ///< Sequence number of last packet received
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uint8_t current_tx_seq; ///< Sequence number of last packet sent
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uint16_t packet_rx_success_count; ///< Received packets
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uint16_t packet_rx_drop_count; ///< Number of packet drops
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} mavlink_status_t;
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#define MAVLINK_BIG_ENDIAN 0
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