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 DEBUG_VECT PACKING
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#define MAVLINK_MSG_ID_DEBUG_VECT 250
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MAVPACKED(
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typedef struct __mavlink_debug_vect_t {
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uint64_t time_usec; /*< [us] Timestamp (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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float x; /*< x*/
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float y; /*< y*/
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float z; /*< z*/
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char name[10]; /*< Name*/
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}) mavlink_debug_vect_t;
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#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
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#define MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN 30
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#define MAVLINK_MSG_ID_250_LEN 30
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#define MAVLINK_MSG_ID_250_MIN_LEN 30
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#define MAVLINK_MSG_ID_DEBUG_VECT_CRC 49
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#define MAVLINK_MSG_ID_250_CRC 49
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#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
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250, \
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"DEBUG_VECT", \
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5, \
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{ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
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{ "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
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"DEBUG_VECT", \
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5, \
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{ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
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{ "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a debug_vect 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 name Name
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* @param time_usec [us] Timestamp (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 x x
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* @param y y
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* @param z z
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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_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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const char *name, uint64_t time_usec, float x, float y, float z)
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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_DEBUG_VECT_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_char_array(buf, 20, name, 10);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
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#else
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mavlink_debug_vect_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.name, name, sizeof(char)*10);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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}
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/**
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* @brief Pack a debug_vect 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 name Name
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* @param time_usec [us] Timestamp (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 x x
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* @param y y
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* @param z z
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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_debug_vect_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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const char *name,uint64_t time_usec,float x,float y,float z)
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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_DEBUG_VECT_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_char_array(buf, 20, name, 10);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
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#else
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mavlink_debug_vect_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.name, name, sizeof(char)*10);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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}
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/**
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* @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
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{
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return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
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}
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/**
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* @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_debug_vect_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
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{
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return mavlink_msg_debug_vect_pack_chan(system_id, component_id, chan, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
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}
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/**
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* @brief Send a debug_vect message
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* @param chan MAVLink channel to send the message
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*
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* @param name Name
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* @param time_usec [us] Timestamp (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 x x
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* @param y y
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* @param z z
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
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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_DEBUG_VECT_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_char_array(buf, 20, name, 10);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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#else
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mavlink_debug_vect_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.name, name, sizeof(char)*10);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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#endif
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}
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/**
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* @brief Send a debug_vect 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_debug_vect_send_struct(mavlink_channel_t chan, const mavlink_debug_vect_t* debug_vect)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_debug_vect_send(chan, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)debug_vect, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DEBUG_VECT_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_debug_vect_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
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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_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_char_array(buf, 20, name, 10);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
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#else
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mavlink_debug_vect_t *packet = (mavlink_debug_vect_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->x = x;
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packet->y = y;
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packet->z = z;
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mav_array_memcpy(packet->name, name, sizeof(char)*10);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)packet, MAVLINK_MSG_ID_DEBUG_VECT_MIN_LEN, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_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 DEBUG_VECT UNPACKING
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/**
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* @brief Get field name from debug_vect message
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*
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* @return Name
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*/
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static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
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{
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return _MAV_RETURN_char_array(msg, name, 10, 20);
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}
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/**
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* @brief Get field time_usec from debug_vect message
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*
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* @return [us] Timestamp (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_debug_vect_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 x from debug_vect message
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*
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* @return x
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*/
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static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field y from debug_vect message
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*
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* @return y
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*/
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static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field z from debug_vect message
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*
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* @return z
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*/
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static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Decode a debug_vect message into a struct
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*
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* @param msg The message to decode
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* @param debug_vect C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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debug_vect->time_usec = mavlink_msg_debug_vect_get_time_usec(msg);
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debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
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debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
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debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
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mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DEBUG_VECT_LEN? msg->len : MAVLINK_MSG_ID_DEBUG_VECT_LEN;
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memset(debug_vect, 0, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
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memcpy(debug_vect, _MAV_PAYLOAD(msg), len);
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#endif
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}
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