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
239 lines
9.9 KiB
C
239 lines
9.9 KiB
C
#pragma once
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// MESSAGE CAMERA_TRIGGER PACKING
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#define MAVLINK_MSG_ID_CAMERA_TRIGGER 112
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MAVPACKED(
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typedef struct __mavlink_camera_trigger_t {
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uint64_t time_usec; /*< [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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uint32_t seq; /*< Image frame sequence*/
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}) mavlink_camera_trigger_t;
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#define MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN 12
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#define MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN 12
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#define MAVLINK_MSG_ID_112_LEN 12
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#define MAVLINK_MSG_ID_112_MIN_LEN 12
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#define MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC 174
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#define MAVLINK_MSG_ID_112_CRC 174
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CAMERA_TRIGGER { \
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112, \
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"CAMERA_TRIGGER", \
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2, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_trigger_t, time_usec) }, \
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{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_trigger_t, seq) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CAMERA_TRIGGER { \
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"CAMERA_TRIGGER", \
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2, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_trigger_t, time_usec) }, \
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{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_trigger_t, seq) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a camera_trigger 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 time_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param seq Image frame sequence
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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_camera_trigger_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint32_t seq)
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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_CAMERA_TRIGGER_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
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#else
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mavlink_camera_trigger_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_TRIGGER;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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}
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/**
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* @brief Pack a camera_trigger 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 time_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param seq Image frame sequence
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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_camera_trigger_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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uint64_t time_usec,uint32_t seq)
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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_CAMERA_TRIGGER_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
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#else
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mavlink_camera_trigger_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_TRIGGER;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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}
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/**
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* @brief Encode a camera_trigger 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 camera_trigger C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_trigger_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_trigger_t* camera_trigger)
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{
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return mavlink_msg_camera_trigger_pack(system_id, component_id, msg, camera_trigger->time_usec, camera_trigger->seq);
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}
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/**
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* @brief Encode a camera_trigger 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 camera_trigger C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_trigger_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_trigger_t* camera_trigger)
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{
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return mavlink_msg_camera_trigger_pack_chan(system_id, component_id, chan, msg, camera_trigger->time_usec, camera_trigger->seq);
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}
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/**
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* @brief Send a camera_trigger message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param seq Image frame sequence
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_camera_trigger_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq)
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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_CAMERA_TRIGGER_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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#else
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mavlink_camera_trigger_t packet;
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packet.time_usec = time_usec;
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packet.seq = seq;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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#endif
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}
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/**
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* @brief Send a camera_trigger 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_camera_trigger_send_struct(mavlink_channel_t chan, const mavlink_camera_trigger_t* camera_trigger)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_camera_trigger_send(chan, camera_trigger->time_usec, camera_trigger->seq);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)camera_trigger, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CAMERA_TRIGGER_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_camera_trigger_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t seq)
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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_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, buf, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_CRC);
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#else
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mavlink_camera_trigger_t *packet = (mavlink_camera_trigger_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->seq = seq;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_TRIGGER, (const char *)packet, MAVLINK_MSG_ID_CAMERA_TRIGGER_MIN_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN, MAVLINK_MSG_ID_CAMERA_TRIGGER_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 CAMERA_TRIGGER UNPACKING
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/**
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* @brief Get field time_usec from camera_trigger message
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*
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* @return [us] Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_camera_trigger_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field seq from camera_trigger message
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*
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* @return Image frame sequence
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*/
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static inline uint32_t mavlink_msg_camera_trigger_get_seq(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 8);
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}
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/**
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* @brief Decode a camera_trigger message into a struct
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*
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* @param msg The message to decode
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* @param camera_trigger C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_camera_trigger_decode(const mavlink_message_t* msg, mavlink_camera_trigger_t* camera_trigger)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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camera_trigger->time_usec = mavlink_msg_camera_trigger_get_time_usec(msg);
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camera_trigger->seq = mavlink_msg_camera_trigger_get_seq(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN;
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memset(camera_trigger, 0, MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN);
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memcpy(camera_trigger, _MAV_PAYLOAD(msg), len);
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#endif
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}
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