1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
439 lines
18 KiB
C
439 lines
18 KiB
C
#pragma once
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// MESSAGE RALLY_POINT PACKING
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#define MAVLINK_MSG_ID_RALLY_POINT 175
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MAVPACKED(
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typedef struct __mavlink_rally_point_t {
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int32_t lat; /*< [degE7] Latitude of point.*/
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int32_t lng; /*< [degE7] Longitude of point.*/
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int16_t alt; /*< [m] Transit / loiter altitude relative to home.*/
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int16_t break_alt; /*< [m] Break altitude relative to home.*/
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uint16_t land_dir; /*< [cdeg] Heading to aim for when landing.*/
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uint8_t target_system; /*< System ID.*/
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uint8_t target_component; /*< Component ID.*/
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uint8_t idx; /*< Point index (first point is 0).*/
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uint8_t count; /*< Total number of points (for sanity checking).*/
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uint8_t flags; /*< Configuration flags.*/
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}) mavlink_rally_point_t;
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#define MAVLINK_MSG_ID_RALLY_POINT_LEN 19
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#define MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN 19
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#define MAVLINK_MSG_ID_175_LEN 19
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#define MAVLINK_MSG_ID_175_MIN_LEN 19
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#define MAVLINK_MSG_ID_RALLY_POINT_CRC 138
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#define MAVLINK_MSG_ID_175_CRC 138
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \
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175, \
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"RALLY_POINT", \
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10, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \
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{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \
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{ "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \
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{ "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \
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"RALLY_POINT", \
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10, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \
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{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \
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{ "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \
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{ "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a rally_point 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 target_system System ID.
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* @param target_component Component ID.
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* @param idx Point index (first point is 0).
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* @param count Total number of points (for sanity checking).
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* @param lat [degE7] Latitude of point.
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* @param lng [degE7] Longitude of point.
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* @param alt [m] Transit / loiter altitude relative to home.
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* @param break_alt [m] Break altitude relative to home.
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* @param land_dir [cdeg] Heading to aim for when landing.
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* @param flags Configuration flags.
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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_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
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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_RALLY_POINT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lng);
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_mav_put_int16_t(buf, 8, alt);
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_mav_put_int16_t(buf, 10, break_alt);
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_mav_put_uint16_t(buf, 12, land_dir);
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_mav_put_uint8_t(buf, 14, target_system);
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_mav_put_uint8_t(buf, 15, target_component);
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_mav_put_uint8_t(buf, 16, idx);
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_mav_put_uint8_t(buf, 17, count);
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_mav_put_uint8_t(buf, 18, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
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#else
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mavlink_rally_point_t packet;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt = alt;
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packet.break_alt = break_alt;
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packet.land_dir = land_dir;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.idx = idx;
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packet.count = count;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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}
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/**
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* @brief Pack a rally_point 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 target_system System ID.
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* @param target_component Component ID.
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* @param idx Point index (first point is 0).
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* @param count Total number of points (for sanity checking).
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* @param lat [degE7] Latitude of point.
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* @param lng [degE7] Longitude of point.
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* @param alt [m] Transit / loiter altitude relative to home.
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* @param break_alt [m] Break altitude relative to home.
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* @param land_dir [cdeg] Heading to aim for when landing.
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* @param flags Configuration flags.
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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_rally_point_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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uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,int32_t lat,int32_t lng,int16_t alt,int16_t break_alt,uint16_t land_dir,uint8_t flags)
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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_RALLY_POINT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lng);
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_mav_put_int16_t(buf, 8, alt);
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_mav_put_int16_t(buf, 10, break_alt);
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_mav_put_uint16_t(buf, 12, land_dir);
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_mav_put_uint8_t(buf, 14, target_system);
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_mav_put_uint8_t(buf, 15, target_component);
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_mav_put_uint8_t(buf, 16, idx);
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_mav_put_uint8_t(buf, 17, count);
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_mav_put_uint8_t(buf, 18, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
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#else
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mavlink_rally_point_t packet;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt = alt;
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packet.break_alt = break_alt;
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packet.land_dir = land_dir;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.idx = idx;
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packet.count = count;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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}
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/**
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* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
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{
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return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
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}
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/**
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* @brief Encode a rally_point 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 rally_point C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
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{
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return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
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}
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/**
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* @brief Send a rally_point message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param idx Point index (first point is 0).
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* @param count Total number of points (for sanity checking).
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* @param lat [degE7] Latitude of point.
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* @param lng [degE7] Longitude of point.
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* @param alt [m] Transit / loiter altitude relative to home.
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* @param break_alt [m] Break altitude relative to home.
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* @param land_dir [cdeg] Heading to aim for when landing.
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* @param flags Configuration flags.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
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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_RALLY_POINT_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lng);
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_mav_put_int16_t(buf, 8, alt);
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_mav_put_int16_t(buf, 10, break_alt);
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_mav_put_uint16_t(buf, 12, land_dir);
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_mav_put_uint8_t(buf, 14, target_system);
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_mav_put_uint8_t(buf, 15, target_component);
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_mav_put_uint8_t(buf, 16, idx);
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_mav_put_uint8_t(buf, 17, count);
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_mav_put_uint8_t(buf, 18, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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#else
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mavlink_rally_point_t packet;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt = alt;
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packet.break_alt = break_alt;
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packet.land_dir = land_dir;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.idx = idx;
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packet.count = count;
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packet.flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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#endif
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}
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/**
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* @brief Send a rally_point message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_rally_point_send_struct(mavlink_channel_t chan, const mavlink_rally_point_t* rally_point)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_rally_point_send(chan, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)rally_point, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_RALLY_POINT_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_rally_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
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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_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lng);
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_mav_put_int16_t(buf, 8, alt);
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_mav_put_int16_t(buf, 10, break_alt);
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_mav_put_uint16_t(buf, 12, land_dir);
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_mav_put_uint8_t(buf, 14, target_system);
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_mav_put_uint8_t(buf, 15, target_component);
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_mav_put_uint8_t(buf, 16, idx);
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_mav_put_uint8_t(buf, 17, count);
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_mav_put_uint8_t(buf, 18, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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#else
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mavlink_rally_point_t *packet = (mavlink_rally_point_t *)msgbuf;
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packet->lat = lat;
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packet->lng = lng;
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packet->alt = alt;
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packet->break_alt = break_alt;
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packet->land_dir = land_dir;
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packet->target_system = target_system;
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packet->target_component = target_component;
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packet->idx = idx;
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packet->count = count;
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packet->flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)packet, MAVLINK_MSG_ID_RALLY_POINT_MIN_LEN, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE RALLY_POINT UNPACKING
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/**
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* @brief Get field target_system from rally_point message
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*
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* @return System ID.
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*/
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static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 14);
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}
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/**
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* @brief Get field target_component from rally_point message
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*
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* @return Component ID.
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*/
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static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 15);
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}
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/**
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* @brief Get field idx from rally_point message
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*
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* @return Point index (first point is 0).
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*/
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static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 16);
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}
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/**
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* @brief Get field count from rally_point message
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*
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* @return Total number of points (for sanity checking).
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*/
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static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg)
|
|
{
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|
return _MAV_RETURN_uint8_t(msg, 17);
|
|
}
|
|
|
|
/**
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|
* @brief Get field lat from rally_point message
|
|
*
|
|
* @return [degE7] Latitude of point.
|
|
*/
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|
static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lng from rally_point message
|
|
*
|
|
* @return [degE7] Longitude of point.
|
|
*/
|
|
static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt from rally_point message
|
|
*
|
|
* @return [m] Transit / loiter altitude relative to home.
|
|
*/
|
|
static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field break_alt from rally_point message
|
|
*
|
|
* @return [m] Break altitude relative to home.
|
|
*/
|
|
static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 10);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field land_dir from rally_point message
|
|
*
|
|
* @return [cdeg] Heading to aim for when landing.
|
|
*/
|
|
static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flags from rally_point message
|
|
*
|
|
* @return Configuration flags.
|
|
*/
|
|
static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a rally_point message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param rally_point C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
rally_point->lat = mavlink_msg_rally_point_get_lat(msg);
|
|
rally_point->lng = mavlink_msg_rally_point_get_lng(msg);
|
|
rally_point->alt = mavlink_msg_rally_point_get_alt(msg);
|
|
rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg);
|
|
rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg);
|
|
rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg);
|
|
rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg);
|
|
rally_point->idx = mavlink_msg_rally_point_get_idx(msg);
|
|
rally_point->count = mavlink_msg_rally_point_get_count(msg);
|
|
rally_point->flags = mavlink_msg_rally_point_get_flags(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_RALLY_POINT_LEN? msg->len : MAVLINK_MSG_ID_RALLY_POINT_LEN;
|
|
memset(rally_point, 0, MAVLINK_MSG_ID_RALLY_POINT_LEN);
|
|
memcpy(rally_point, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|