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
306 lines
12 KiB
C
306 lines
12 KiB
C
#pragma once
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// MESSAGE TERRAIN_DATA PACKING
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#define MAVLINK_MSG_ID_TERRAIN_DATA 134
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MAVPACKED(
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typedef struct __mavlink_terrain_data_t {
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int32_t lat; /*< [degE7] Latitude of SW corner of first grid*/
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int32_t lon; /*< [degE7] Longitude of SW corner of first grid*/
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uint16_t grid_spacing; /*< [m] Grid spacing*/
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int16_t data[16]; /*< [m] Terrain data MSL*/
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uint8_t gridbit; /*< bit within the terrain request mask*/
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}) mavlink_terrain_data_t;
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#define MAVLINK_MSG_ID_TERRAIN_DATA_LEN 43
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#define MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN 43
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#define MAVLINK_MSG_ID_134_LEN 43
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#define MAVLINK_MSG_ID_134_MIN_LEN 43
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#define MAVLINK_MSG_ID_TERRAIN_DATA_CRC 229
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#define MAVLINK_MSG_ID_134_CRC 229
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#define MAVLINK_MSG_TERRAIN_DATA_FIELD_DATA_LEN 16
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_TERRAIN_DATA { \
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134, \
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"TERRAIN_DATA", \
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5, \
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{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_data_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_data_t, lon) }, \
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{ "grid_spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_terrain_data_t, grid_spacing) }, \
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{ "gridbit", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_terrain_data_t, gridbit) }, \
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{ "data", NULL, MAVLINK_TYPE_INT16_T, 16, 10, offsetof(mavlink_terrain_data_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_TERRAIN_DATA { \
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"TERRAIN_DATA", \
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5, \
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{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_data_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_data_t, lon) }, \
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{ "grid_spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_terrain_data_t, grid_spacing) }, \
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{ "gridbit", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_terrain_data_t, gridbit) }, \
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{ "data", NULL, MAVLINK_TYPE_INT16_T, 16, 10, offsetof(mavlink_terrain_data_t, data) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a terrain_data 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 lat [degE7] Latitude of SW corner of first grid
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* @param lon [degE7] Longitude of SW corner of first grid
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* @param grid_spacing [m] Grid spacing
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* @param gridbit bit within the terrain request mask
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* @param data [m] Terrain data MSL
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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_terrain_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
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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_TERRAIN_DATA_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_uint16_t(buf, 8, grid_spacing);
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_mav_put_uint8_t(buf, 42, gridbit);
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_mav_put_int16_t_array(buf, 10, data, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
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#else
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mavlink_terrain_data_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.grid_spacing = grid_spacing;
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packet.gridbit = gridbit;
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mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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}
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/**
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* @brief Pack a terrain_data 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 lat [degE7] Latitude of SW corner of first grid
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* @param lon [degE7] Longitude of SW corner of first grid
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* @param grid_spacing [m] Grid spacing
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* @param gridbit bit within the terrain request mask
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* @param data [m] Terrain data MSL
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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_terrain_data_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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int32_t lat,int32_t lon,uint16_t grid_spacing,uint8_t gridbit,const int16_t *data)
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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_TERRAIN_DATA_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_uint16_t(buf, 8, grid_spacing);
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_mav_put_uint8_t(buf, 42, gridbit);
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_mav_put_int16_t_array(buf, 10, data, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
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#else
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mavlink_terrain_data_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.grid_spacing = grid_spacing;
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packet.gridbit = gridbit;
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mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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}
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/**
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* @brief Encode a terrain_data 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 terrain_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_terrain_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
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{
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return mavlink_msg_terrain_data_pack(system_id, component_id, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
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}
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/**
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* @brief Encode a terrain_data 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 terrain_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_terrain_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
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{
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return mavlink_msg_terrain_data_pack_chan(system_id, component_id, chan, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
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}
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/**
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* @brief Send a terrain_data message
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* @param chan MAVLink channel to send the message
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*
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* @param lat [degE7] Latitude of SW corner of first grid
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* @param lon [degE7] Longitude of SW corner of first grid
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* @param grid_spacing [m] Grid spacing
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* @param gridbit bit within the terrain request mask
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* @param data [m] Terrain data MSL
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_terrain_data_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
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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_TERRAIN_DATA_LEN];
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_mav_put_int32_t(buf, 0, lat);
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_mav_put_int32_t(buf, 4, lon);
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_mav_put_uint16_t(buf, 8, grid_spacing);
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_mav_put_uint8_t(buf, 42, gridbit);
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_mav_put_int16_t_array(buf, 10, data, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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#else
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mavlink_terrain_data_t packet;
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packet.lat = lat;
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packet.lon = lon;
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packet.grid_spacing = grid_spacing;
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packet.gridbit = gridbit;
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mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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#endif
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}
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/**
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* @brief Send a terrain_data 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_terrain_data_send_struct(mavlink_channel_t chan, const mavlink_terrain_data_t* terrain_data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_terrain_data_send(chan, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)terrain_data, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_TERRAIN_DATA_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_terrain_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
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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, lon);
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_mav_put_uint16_t(buf, 8, grid_spacing);
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_mav_put_uint8_t(buf, 42, gridbit);
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_mav_put_int16_t_array(buf, 10, data, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
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#else
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mavlink_terrain_data_t *packet = (mavlink_terrain_data_t *)msgbuf;
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packet->lat = lat;
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packet->lon = lon;
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packet->grid_spacing = grid_spacing;
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packet->gridbit = gridbit;
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mav_array_memcpy(packet->data, data, sizeof(int16_t)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_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 TERRAIN_DATA UNPACKING
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/**
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* @brief Get field lat from terrain_data message
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*
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* @return [degE7] Latitude of SW corner of first grid
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*/
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static inline int32_t mavlink_msg_terrain_data_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 0);
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}
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/**
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* @brief Get field lon from terrain_data message
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*
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* @return [degE7] Longitude of SW corner of first grid
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*/
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static inline int32_t mavlink_msg_terrain_data_get_lon(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 4);
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}
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/**
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* @brief Get field grid_spacing from terrain_data message
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*
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* @return [m] Grid spacing
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*/
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static inline uint16_t mavlink_msg_terrain_data_get_grid_spacing(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 8);
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}
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/**
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* @brief Get field gridbit from terrain_data message
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*
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* @return bit within the terrain request mask
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*/
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static inline uint8_t mavlink_msg_terrain_data_get_gridbit(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 42);
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}
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/**
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* @brief Get field data from terrain_data message
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*
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* @return [m] Terrain data MSL
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*/
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static inline uint16_t mavlink_msg_terrain_data_get_data(const mavlink_message_t* msg, int16_t *data)
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{
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return _MAV_RETURN_int16_t_array(msg, data, 16, 10);
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}
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/**
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* @brief Decode a terrain_data message into a struct
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*
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* @param msg The message to decode
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* @param terrain_data C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_terrain_data_decode(const mavlink_message_t* msg, mavlink_terrain_data_t* terrain_data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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terrain_data->lat = mavlink_msg_terrain_data_get_lat(msg);
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terrain_data->lon = mavlink_msg_terrain_data_get_lon(msg);
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terrain_data->grid_spacing = mavlink_msg_terrain_data_get_grid_spacing(msg);
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mavlink_msg_terrain_data_get_data(msg, terrain_data->data);
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terrain_data->gridbit = mavlink_msg_terrain_data_get_gridbit(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_TERRAIN_DATA_LEN? msg->len : MAVLINK_MSG_ID_TERRAIN_DATA_LEN;
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memset(terrain_data, 0, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
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memcpy(terrain_data, _MAV_PAYLOAD(msg), len);
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#endif
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}
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