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
336 lines
14 KiB
C
336 lines
14 KiB
C
#pragma once
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// MESSAGE HEARTBEAT PACKING
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#define MAVLINK_MSG_ID_HEARTBEAT 0
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MAVPACKED(
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typedef struct __mavlink_heartbeat_t {
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uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags*/
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uint8_t type; /*< Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.*/
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uint8_t autopilot; /*< Autopilot type / class.*/
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uint8_t base_mode; /*< System mode bitmap.*/
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uint8_t system_status; /*< System status flag.*/
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uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
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}) mavlink_heartbeat_t;
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
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#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
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#define MAVLINK_MSG_ID_0_LEN 9
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#define MAVLINK_MSG_ID_0_MIN_LEN 9
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#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
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#define MAVLINK_MSG_ID_0_CRC 50
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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0, \
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"HEARTBEAT", \
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6, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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"HEARTBEAT", \
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6, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a heartbeat 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 type Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.
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* @param autopilot Autopilot type / class.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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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_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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}
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/**
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* @brief Pack a heartbeat 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 type Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.
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* @param autopilot Autopilot type / class.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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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_heartbeat_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 type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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}
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/**
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* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Send a heartbeat message
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* @param chan MAVLink channel to send the message
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*
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* @param type Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.
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* @param autopilot Autopilot type / class.
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* @param base_mode System mode bitmap.
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* @param custom_mode A bitfield for use for autopilot-specific flags
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* @param system_status System status flag.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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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_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#endif
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}
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/**
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* @brief Send a heartbeat 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_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_HEARTBEAT_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_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
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packet->custom_mode = custom_mode;
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packet->type = type;
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packet->autopilot = autopilot;
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packet->base_mode = base_mode;
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packet->system_status = system_status;
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packet->mavlink_version = 3;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_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 HEARTBEAT UNPACKING
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/**
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* @brief Get field type from heartbeat message
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*
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* @return Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field autopilot from heartbeat message
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*
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* @return Autopilot type / class.
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 5);
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}
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/**
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* @brief Get field base_mode from heartbeat message
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*
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* @return System mode bitmap.
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field custom_mode from heartbeat message
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*
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* @return A bitfield for use for autopilot-specific flags
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*/
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static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field system_status from heartbeat message
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*
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* @return System status flag.
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Get field mavlink_version from heartbeat message
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*
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* @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Decode a heartbeat message into a struct
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*
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* @param msg The message to decode
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* @param heartbeat C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
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heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
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heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
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heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
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heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
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heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
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memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
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#endif
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}
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