#pragma once // MESSAGE LIMITS_STATUS PACKING #define MAVLINK_MSG_ID_LIMITS_STATUS 167 MAVPACKED( typedef struct __mavlink_limits_status_t { uint32_t last_trigger; /*< [ms] Time (since boot) of last breach.*/ uint32_t last_action; /*< [ms] Time (since boot) of last recovery action.*/ uint32_t last_recovery; /*< [ms] Time (since boot) of last successful recovery.*/ uint32_t last_clear; /*< [ms] Time (since boot) of last all-clear.*/ uint16_t breach_count; /*< Number of fence breaches.*/ uint8_t limits_state; /*< State of AP_Limits.*/ uint8_t mods_enabled; /*< AP_Limit_Module bitfield of enabled modules.*/ uint8_t mods_required; /*< AP_Limit_Module bitfield of required modules.*/ uint8_t mods_triggered; /*< AP_Limit_Module bitfield of triggered modules.*/ }) mavlink_limits_status_t; #define MAVLINK_MSG_ID_LIMITS_STATUS_LEN 22 #define MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN 22 #define MAVLINK_MSG_ID_167_LEN 22 #define MAVLINK_MSG_ID_167_MIN_LEN 22 #define MAVLINK_MSG_ID_LIMITS_STATUS_CRC 144 #define MAVLINK_MSG_ID_167_CRC 144 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_LIMITS_STATUS { \ 167, \ "LIMITS_STATUS", \ 9, \ { { "limits_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_limits_status_t, limits_state) }, \ { "last_trigger", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_limits_status_t, last_trigger) }, \ { "last_action", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_limits_status_t, last_action) }, \ { "last_recovery", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_limits_status_t, last_recovery) }, \ { "last_clear", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_limits_status_t, last_clear) }, \ { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_limits_status_t, breach_count) }, \ { "mods_enabled", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_limits_status_t, mods_enabled) }, \ { "mods_required", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_limits_status_t, mods_required) }, \ { "mods_triggered", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_limits_status_t, mods_triggered) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_LIMITS_STATUS { \ "LIMITS_STATUS", \ 9, \ { { "limits_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_limits_status_t, limits_state) }, \ { "last_trigger", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_limits_status_t, last_trigger) }, \ { "last_action", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_limits_status_t, last_action) }, \ { "last_recovery", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_limits_status_t, last_recovery) }, \ { "last_clear", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_limits_status_t, last_clear) }, \ { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_limits_status_t, breach_count) }, \ { "mods_enabled", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_limits_status_t, mods_enabled) }, \ { "mods_required", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_limits_status_t, mods_required) }, \ { "mods_triggered", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_limits_status_t, mods_triggered) }, \ } \ } #endif /** * @brief Pack a limits_status message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param limits_state State of AP_Limits. * @param last_trigger [ms] Time (since boot) of last breach. * @param last_action [ms] Time (since boot) of last recovery action. * @param last_recovery [ms] Time (since boot) of last successful recovery. * @param last_clear [ms] Time (since boot) of last all-clear. * @param breach_count Number of fence breaches. * @param mods_enabled AP_Limit_Module bitfield of enabled modules. * @param mods_required AP_Limit_Module bitfield of required modules. * @param mods_triggered AP_Limit_Module bitfield of triggered modules. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_limits_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN]; _mav_put_uint32_t(buf, 0, last_trigger); _mav_put_uint32_t(buf, 4, last_action); _mav_put_uint32_t(buf, 8, last_recovery); _mav_put_uint32_t(buf, 12, last_clear); _mav_put_uint16_t(buf, 16, breach_count); _mav_put_uint8_t(buf, 18, limits_state); _mav_put_uint8_t(buf, 19, mods_enabled); _mav_put_uint8_t(buf, 20, mods_required); _mav_put_uint8_t(buf, 21, mods_triggered); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); #else mavlink_limits_status_t packet; packet.last_trigger = last_trigger; packet.last_action = last_action; packet.last_recovery = last_recovery; packet.last_clear = last_clear; packet.breach_count = breach_count; packet.limits_state = limits_state; packet.mods_enabled = mods_enabled; packet.mods_required = mods_required; packet.mods_triggered = mods_triggered; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); } /** * @brief Pack a limits_status message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param limits_state State of AP_Limits. * @param last_trigger [ms] Time (since boot) of last breach. * @param last_action [ms] Time (since boot) of last recovery action. * @param last_recovery [ms] Time (since boot) of last successful recovery. * @param last_clear [ms] Time (since boot) of last all-clear. * @param breach_count Number of fence breaches. * @param mods_enabled AP_Limit_Module bitfield of enabled modules. * @param mods_required AP_Limit_Module bitfield of required modules. * @param mods_triggered AP_Limit_Module bitfield of triggered modules. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_limits_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t limits_state,uint32_t last_trigger,uint32_t last_action,uint32_t last_recovery,uint32_t last_clear,uint16_t breach_count,uint8_t mods_enabled,uint8_t mods_required,uint8_t mods_triggered) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN]; _mav_put_uint32_t(buf, 0, last_trigger); _mav_put_uint32_t(buf, 4, last_action); _mav_put_uint32_t(buf, 8, last_recovery); _mav_put_uint32_t(buf, 12, last_clear); _mav_put_uint16_t(buf, 16, breach_count); _mav_put_uint8_t(buf, 18, limits_state); _mav_put_uint8_t(buf, 19, mods_enabled); _mav_put_uint8_t(buf, 20, mods_required); _mav_put_uint8_t(buf, 21, mods_triggered); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); #else mavlink_limits_status_t packet; packet.last_trigger = last_trigger; packet.last_action = last_action; packet.last_recovery = last_recovery; packet.last_clear = last_clear; packet.breach_count = breach_count; packet.limits_state = limits_state; packet.mods_enabled = mods_enabled; packet.mods_required = mods_required; packet.mods_triggered = mods_triggered; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); } /** * @brief Encode a limits_status struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param limits_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_limits_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status) { return mavlink_msg_limits_status_pack(system_id, component_id, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered); } /** * @brief Encode a limits_status struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param limits_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_limits_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status) { return mavlink_msg_limits_status_pack_chan(system_id, component_id, chan, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered); } /** * @brief Send a limits_status message * @param chan MAVLink channel to send the message * * @param limits_state State of AP_Limits. * @param last_trigger [ms] Time (since boot) of last breach. * @param last_action [ms] Time (since boot) of last recovery action. * @param last_recovery [ms] Time (since boot) of last successful recovery. * @param last_clear [ms] Time (since boot) of last all-clear. * @param breach_count Number of fence breaches. * @param mods_enabled AP_Limit_Module bitfield of enabled modules. * @param mods_required AP_Limit_Module bitfield of required modules. * @param mods_triggered AP_Limit_Module bitfield of triggered modules. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN]; _mav_put_uint32_t(buf, 0, last_trigger); _mav_put_uint32_t(buf, 4, last_action); _mav_put_uint32_t(buf, 8, last_recovery); _mav_put_uint32_t(buf, 12, last_clear); _mav_put_uint16_t(buf, 16, breach_count); _mav_put_uint8_t(buf, 18, limits_state); _mav_put_uint8_t(buf, 19, mods_enabled); _mav_put_uint8_t(buf, 20, mods_required); _mav_put_uint8_t(buf, 21, mods_triggered); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); #else mavlink_limits_status_t packet; packet.last_trigger = last_trigger; packet.last_action = last_action; packet.last_recovery = last_recovery; packet.last_clear = last_clear; packet.breach_count = breach_count; packet.limits_state = limits_state; packet.mods_enabled = mods_enabled; packet.mods_required = mods_required; packet.mods_triggered = mods_triggered; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); #endif } /** * @brief Send a limits_status message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_limits_status_send_struct(mavlink_channel_t chan, const mavlink_limits_status_t* limits_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_limits_status_send(chan, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)limits_status, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); #endif } #if MAVLINK_MSG_ID_LIMITS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_limits_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, last_trigger); _mav_put_uint32_t(buf, 4, last_action); _mav_put_uint32_t(buf, 8, last_recovery); _mav_put_uint32_t(buf, 12, last_clear); _mav_put_uint16_t(buf, 16, breach_count); _mav_put_uint8_t(buf, 18, limits_state); _mav_put_uint8_t(buf, 19, mods_enabled); _mav_put_uint8_t(buf, 20, mods_required); _mav_put_uint8_t(buf, 21, mods_triggered); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); #else mavlink_limits_status_t *packet = (mavlink_limits_status_t *)msgbuf; packet->last_trigger = last_trigger; packet->last_action = last_action; packet->last_recovery = last_recovery; packet->last_clear = last_clear; packet->breach_count = breach_count; packet->limits_state = limits_state; packet->mods_enabled = mods_enabled; packet->mods_required = mods_required; packet->mods_triggered = mods_triggered; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)packet, MAVLINK_MSG_ID_LIMITS_STATUS_MIN_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC); #endif } #endif #endif // MESSAGE LIMITS_STATUS UNPACKING /** * @brief Get field limits_state from limits_status message * * @return State of AP_Limits. */ static inline uint8_t mavlink_msg_limits_status_get_limits_state(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 18); } /** * @brief Get field last_trigger from limits_status message * * @return [ms] Time (since boot) of last breach. */ static inline uint32_t mavlink_msg_limits_status_get_last_trigger(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field last_action from limits_status message * * @return [ms] Time (since boot) of last recovery action. */ static inline uint32_t mavlink_msg_limits_status_get_last_action(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 4); } /** * @brief Get field last_recovery from limits_status message * * @return [ms] Time (since boot) of last successful recovery. */ static inline uint32_t mavlink_msg_limits_status_get_last_recovery(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 8); } /** * @brief Get field last_clear from limits_status message * * @return [ms] Time (since boot) of last all-clear. */ static inline uint32_t mavlink_msg_limits_status_get_last_clear(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 12); } /** * @brief Get field breach_count from limits_status message * * @return Number of fence breaches. */ static inline uint16_t mavlink_msg_limits_status_get_breach_count(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 16); } /** * @brief Get field mods_enabled from limits_status message * * @return AP_Limit_Module bitfield of enabled modules. */ static inline uint8_t mavlink_msg_limits_status_get_mods_enabled(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 19); } /** * @brief Get field mods_required from limits_status message * * @return AP_Limit_Module bitfield of required modules. */ static inline uint8_t mavlink_msg_limits_status_get_mods_required(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 20); } /** * @brief Get field mods_triggered from limits_status message * * @return AP_Limit_Module bitfield of triggered modules. */ static inline uint8_t mavlink_msg_limits_status_get_mods_triggered(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 21); } /** * @brief Decode a limits_status message into a struct * * @param msg The message to decode * @param limits_status C-struct to decode the message contents into */ static inline void mavlink_msg_limits_status_decode(const mavlink_message_t* msg, mavlink_limits_status_t* limits_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS limits_status->last_trigger = mavlink_msg_limits_status_get_last_trigger(msg); limits_status->last_action = mavlink_msg_limits_status_get_last_action(msg); limits_status->last_recovery = mavlink_msg_limits_status_get_last_recovery(msg); limits_status->last_clear = mavlink_msg_limits_status_get_last_clear(msg); limits_status->breach_count = mavlink_msg_limits_status_get_breach_count(msg); limits_status->limits_state = mavlink_msg_limits_status_get_limits_state(msg); limits_status->mods_enabled = mavlink_msg_limits_status_get_mods_enabled(msg); limits_status->mods_required = mavlink_msg_limits_status_get_mods_required(msg); limits_status->mods_triggered = mavlink_msg_limits_status_get_mods_triggered(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_LIMITS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_LIMITS_STATUS_LEN; memset(limits_status, 0, MAVLINK_MSG_ID_LIMITS_STATUS_LEN); memcpy(limits_status, _MAV_PAYLOAD(msg), len); #endif }