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
414 lines
17 KiB
C
414 lines
17 KiB
C
#pragma once
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// MESSAGE CAMERA_STATUS PACKING
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#define MAVLINK_MSG_ID_CAMERA_STATUS 179
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MAVPACKED(
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typedef struct __mavlink_camera_status_t {
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uint64_t time_usec; /*< [us] Image timestamp (since UNIX epoch, according to camera clock).*/
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float p1; /*< Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/
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float p2; /*< Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/
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float p3; /*< Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/
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float p4; /*< Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/
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uint16_t img_idx; /*< Image index.*/
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uint8_t target_system; /*< System ID.*/
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uint8_t cam_idx; /*< Camera ID.*/
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uint8_t event_id; /*< Event type.*/
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}) mavlink_camera_status_t;
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#define MAVLINK_MSG_ID_CAMERA_STATUS_LEN 29
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#define MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN 29
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#define MAVLINK_MSG_ID_179_LEN 29
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#define MAVLINK_MSG_ID_179_MIN_LEN 29
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#define MAVLINK_MSG_ID_CAMERA_STATUS_CRC 189
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#define MAVLINK_MSG_ID_179_CRC 189
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CAMERA_STATUS { \
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179, \
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"CAMERA_STATUS", \
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9, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_status_t, time_usec) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_status_t, target_system) }, \
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{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_status_t, cam_idx) }, \
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{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_status_t, img_idx) }, \
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{ "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_status_t, event_id) }, \
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{ "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_status_t, p1) }, \
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{ "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_status_t, p2) }, \
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{ "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_status_t, p3) }, \
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{ "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_status_t, p4) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CAMERA_STATUS { \
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"CAMERA_STATUS", \
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9, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_status_t, time_usec) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_status_t, target_system) }, \
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{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_status_t, cam_idx) }, \
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{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_status_t, img_idx) }, \
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{ "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_status_t, event_id) }, \
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{ "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_status_t, p1) }, \
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{ "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_status_t, p2) }, \
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{ "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_status_t, p3) }, \
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{ "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_status_t, p4) }, \
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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_status 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] Image timestamp (since UNIX epoch, according to camera clock).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param event_id Event type.
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* @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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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_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
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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_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, p1);
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_mav_put_float(buf, 12, p2);
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_mav_put_float(buf, 16, p3);
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_mav_put_float(buf, 20, p4);
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_mav_put_uint16_t(buf, 24, img_idx);
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_mav_put_uint8_t(buf, 26, target_system);
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_mav_put_uint8_t(buf, 27, cam_idx);
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_mav_put_uint8_t(buf, 28, event_id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_STATUS_LEN);
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#else
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mavlink_camera_status_t packet;
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packet.time_usec = time_usec;
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packet.p1 = p1;
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packet.p2 = p2;
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packet.p3 = p3;
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packet.p4 = p4;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.event_id = event_id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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}
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/**
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* @brief Pack a camera_status 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] Image timestamp (since UNIX epoch, according to camera clock).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param event_id Event type.
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* @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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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_status_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,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,uint8_t event_id,float p1,float p2,float p3,float p4)
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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_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, p1);
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_mav_put_float(buf, 12, p2);
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_mav_put_float(buf, 16, p3);
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_mav_put_float(buf, 20, p4);
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_mav_put_uint16_t(buf, 24, img_idx);
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_mav_put_uint8_t(buf, 26, target_system);
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_mav_put_uint8_t(buf, 27, cam_idx);
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_mav_put_uint8_t(buf, 28, event_id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_STATUS_LEN);
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#else
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mavlink_camera_status_t packet;
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packet.time_usec = time_usec;
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packet.p1 = p1;
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packet.p2 = p2;
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packet.p3 = p3;
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packet.p4 = p4;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.event_id = event_id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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}
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/**
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* @brief Encode a camera_status 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_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_status_t* camera_status)
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{
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return mavlink_msg_camera_status_pack(system_id, component_id, msg, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4);
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}
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/**
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* @brief Encode a camera_status 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_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_status_t* camera_status)
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{
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return mavlink_msg_camera_status_pack_chan(system_id, component_id, chan, msg, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4);
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}
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/**
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* @brief Send a camera_status 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] Image timestamp (since UNIX epoch, according to camera clock).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param event_id Event type.
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* @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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* @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_camera_status_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
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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_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, p1);
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_mav_put_float(buf, 12, p2);
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_mav_put_float(buf, 16, p3);
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_mav_put_float(buf, 20, p4);
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_mav_put_uint16_t(buf, 24, img_idx);
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_mav_put_uint8_t(buf, 26, target_system);
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_mav_put_uint8_t(buf, 27, cam_idx);
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_mav_put_uint8_t(buf, 28, event_id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, buf, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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#else
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mavlink_camera_status_t packet;
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packet.time_usec = time_usec;
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packet.p1 = p1;
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packet.p2 = p2;
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packet.p3 = p3;
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packet.p4 = p4;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.event_id = event_id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a camera_status 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_status_send_struct(mavlink_channel_t chan, const mavlink_camera_status_t* camera_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_camera_status_send(chan, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)camera_status, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CAMERA_STATUS_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_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4)
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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, p1);
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_mav_put_float(buf, 12, p2);
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_mav_put_float(buf, 16, p3);
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_mav_put_float(buf, 20, p4);
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_mav_put_uint16_t(buf, 24, img_idx);
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_mav_put_uint8_t(buf, 26, target_system);
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_mav_put_uint8_t(buf, 27, cam_idx);
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_mav_put_uint8_t(buf, 28, event_id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, buf, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC);
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#else
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mavlink_camera_status_t *packet = (mavlink_camera_status_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->p1 = p1;
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packet->p2 = p2;
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packet->p3 = p3;
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packet->p4 = p4;
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packet->img_idx = img_idx;
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packet->target_system = target_system;
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packet->cam_idx = cam_idx;
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packet->event_id = event_id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)packet, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_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_STATUS UNPACKING
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/**
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* @brief Get field time_usec from camera_status message
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*
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* @return [us] Image timestamp (since UNIX epoch, according to camera clock).
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*/
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static inline uint64_t mavlink_msg_camera_status_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 target_system from camera_status message
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*
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* @return System ID.
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*/
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static inline uint8_t mavlink_msg_camera_status_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 26);
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}
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/**
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* @brief Get field cam_idx from camera_status message
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*
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* @return Camera ID.
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*/
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static inline uint8_t mavlink_msg_camera_status_get_cam_idx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 27);
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}
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/**
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* @brief Get field img_idx from camera_status message
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*
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* @return Image index.
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*/
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static inline uint16_t mavlink_msg_camera_status_get_img_idx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 24);
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}
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/**
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* @brief Get field event_id from camera_status message
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*
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* @return Event type.
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*/
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static inline uint8_t mavlink_msg_camera_status_get_event_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 28);
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}
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/**
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* @brief Get field p1 from camera_status message
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*
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* @return Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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*/
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static inline float mavlink_msg_camera_status_get_p1(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 p2 from camera_status message
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*
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* @return Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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*/
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static inline float mavlink_msg_camera_status_get_p2(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 p3 from camera_status message
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|
*
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* @return Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
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|
*/
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static inline float mavlink_msg_camera_status_get_p3(const mavlink_message_t* msg)
|
|
{
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|
return _MAV_RETURN_float(msg, 16);
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|
}
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|
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|
/**
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|
* @brief Get field p4 from camera_status message
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|
*
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|
* @return Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
|
|
*/
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static inline float mavlink_msg_camera_status_get_p4(const mavlink_message_t* msg)
|
|
{
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|
return _MAV_RETURN_float(msg, 20);
|
|
}
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|
|
|
/**
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|
* @brief Decode a camera_status message into a struct
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|
*
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|
* @param msg The message to decode
|
|
* @param camera_status C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_camera_status_decode(const mavlink_message_t* msg, mavlink_camera_status_t* camera_status)
|
|
{
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|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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|
camera_status->time_usec = mavlink_msg_camera_status_get_time_usec(msg);
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|
camera_status->p1 = mavlink_msg_camera_status_get_p1(msg);
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|
camera_status->p2 = mavlink_msg_camera_status_get_p2(msg);
|
|
camera_status->p3 = mavlink_msg_camera_status_get_p3(msg);
|
|
camera_status->p4 = mavlink_msg_camera_status_get_p4(msg);
|
|
camera_status->img_idx = mavlink_msg_camera_status_get_img_idx(msg);
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|
camera_status->target_system = mavlink_msg_camera_status_get_target_system(msg);
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|
camera_status->cam_idx = mavlink_msg_camera_status_get_cam_idx(msg);
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|
camera_status->event_id = mavlink_msg_camera_status_get_event_id(msg);
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#else
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|
uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_STATUS_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_STATUS_LEN;
|
|
memset(camera_status, 0, MAVLINK_MSG_ID_CAMERA_STATUS_LEN);
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|
memcpy(camera_status, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|