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
339 lines
13 KiB
C
339 lines
13 KiB
C
#pragma once
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// MESSAGE DIAGNOSTIC PACKING
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#define MAVLINK_MSG_ID_DIAGNOSTIC 173
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MAVPACKED(
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typedef struct __mavlink_diagnostic_t {
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float diagFl1; /*< Diagnostic float 1*/
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float diagFl2; /*< Diagnostic float 2*/
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float diagFl3; /*< Diagnostic float 3*/
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int16_t diagSh1; /*< Diagnostic short 1*/
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int16_t diagSh2; /*< Diagnostic short 2*/
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int16_t diagSh3; /*< Diagnostic short 3*/
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}) mavlink_diagnostic_t;
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#define MAVLINK_MSG_ID_DIAGNOSTIC_LEN 18
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#define MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN 18
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#define MAVLINK_MSG_ID_173_LEN 18
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#define MAVLINK_MSG_ID_173_MIN_LEN 18
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#define MAVLINK_MSG_ID_DIAGNOSTIC_CRC 2
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#define MAVLINK_MSG_ID_173_CRC 2
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DIAGNOSTIC { \
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173, \
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"DIAGNOSTIC", \
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6, \
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{ { "diagFl1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_diagnostic_t, diagFl1) }, \
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{ "diagFl2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_diagnostic_t, diagFl2) }, \
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{ "diagFl3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_diagnostic_t, diagFl3) }, \
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{ "diagSh1", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_diagnostic_t, diagSh1) }, \
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{ "diagSh2", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_diagnostic_t, diagSh2) }, \
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{ "diagSh3", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_diagnostic_t, diagSh3) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DIAGNOSTIC { \
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"DIAGNOSTIC", \
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6, \
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{ { "diagFl1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_diagnostic_t, diagFl1) }, \
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{ "diagFl2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_diagnostic_t, diagFl2) }, \
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{ "diagFl3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_diagnostic_t, diagFl3) }, \
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{ "diagSh1", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_diagnostic_t, diagSh1) }, \
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{ "diagSh2", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_diagnostic_t, diagSh2) }, \
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{ "diagSh3", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_diagnostic_t, diagSh3) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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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_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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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_DIAGNOSTIC_LEN];
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_mav_put_float(buf, 0, diagFl1);
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_mav_put_float(buf, 4, diagFl2);
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_mav_put_float(buf, 8, diagFl3);
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_mav_put_int16_t(buf, 12, diagSh1);
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_mav_put_int16_t(buf, 14, diagSh2);
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_mav_put_int16_t(buf, 16, diagSh3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIAGNOSTIC_LEN);
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#else
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mavlink_diagnostic_t packet;
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packet.diagFl1 = diagFl1;
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packet.diagFl2 = diagFl2;
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packet.diagFl3 = diagFl3;
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packet.diagSh1 = diagSh1;
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packet.diagSh2 = diagSh2;
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packet.diagSh3 = diagSh3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIAGNOSTIC_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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}
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/**
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* @brief Pack a diagnostic 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 diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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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_diagnostic_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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float diagFl1,float diagFl2,float diagFl3,int16_t diagSh1,int16_t diagSh2,int16_t diagSh3)
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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_DIAGNOSTIC_LEN];
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_mav_put_float(buf, 0, diagFl1);
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_mav_put_float(buf, 4, diagFl2);
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_mav_put_float(buf, 8, diagFl3);
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_mav_put_int16_t(buf, 12, diagSh1);
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_mav_put_int16_t(buf, 14, diagSh2);
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_mav_put_int16_t(buf, 16, diagSh3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIAGNOSTIC_LEN);
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#else
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mavlink_diagnostic_t packet;
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packet.diagFl1 = diagFl1;
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packet.diagFl2 = diagFl2;
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packet.diagFl3 = diagFl3;
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packet.diagSh1 = diagSh1;
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packet.diagSh2 = diagSh2;
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packet.diagSh3 = diagSh3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIAGNOSTIC_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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}
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/**
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* @brief Encode a diagnostic 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 diagnostic C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic)
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{
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return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
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}
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/**
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* @brief Encode a diagnostic 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 diagnostic C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_diagnostic_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic)
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{
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return mavlink_msg_diagnostic_pack_chan(system_id, component_id, chan, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
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}
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/**
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* @brief Send a diagnostic message
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* @param chan MAVLink channel to send the message
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*
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* @param diagFl1 Diagnostic float 1
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* @param diagFl2 Diagnostic float 2
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* @param diagFl3 Diagnostic float 3
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* @param diagSh1 Diagnostic short 1
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* @param diagSh2 Diagnostic short 2
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* @param diagSh3 Diagnostic short 3
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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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_DIAGNOSTIC_LEN];
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_mav_put_float(buf, 0, diagFl1);
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_mav_put_float(buf, 4, diagFl2);
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_mav_put_float(buf, 8, diagFl3);
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_mav_put_int16_t(buf, 12, diagSh1);
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_mav_put_int16_t(buf, 14, diagSh2);
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_mav_put_int16_t(buf, 16, diagSh3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, buf, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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#else
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mavlink_diagnostic_t packet;
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packet.diagFl1 = diagFl1;
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packet.diagFl2 = diagFl2;
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packet.diagFl3 = diagFl3;
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packet.diagSh1 = diagSh1;
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packet.diagSh2 = diagSh2;
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packet.diagSh3 = diagSh3;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, (const char *)&packet, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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#endif
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}
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/**
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* @brief Send a diagnostic 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_diagnostic_send_struct(mavlink_channel_t chan, const mavlink_diagnostic_t* diagnostic)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_diagnostic_send(chan, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, (const char *)diagnostic, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DIAGNOSTIC_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_diagnostic_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
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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_float(buf, 0, diagFl1);
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_mav_put_float(buf, 4, diagFl2);
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_mav_put_float(buf, 8, diagFl3);
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_mav_put_int16_t(buf, 12, diagSh1);
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_mav_put_int16_t(buf, 14, diagSh2);
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_mav_put_int16_t(buf, 16, diagSh3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, buf, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_CRC);
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#else
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mavlink_diagnostic_t *packet = (mavlink_diagnostic_t *)msgbuf;
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packet->diagFl1 = diagFl1;
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packet->diagFl2 = diagFl2;
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packet->diagFl3 = diagFl3;
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packet->diagSh1 = diagSh1;
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packet->diagSh2 = diagSh2;
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packet->diagSh3 = diagSh3;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIAGNOSTIC, (const char *)packet, MAVLINK_MSG_ID_DIAGNOSTIC_MIN_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_LEN, MAVLINK_MSG_ID_DIAGNOSTIC_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 DIAGNOSTIC UNPACKING
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/**
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* @brief Get field diagFl1 from diagnostic message
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*
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* @return Diagnostic float 1
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field diagFl2 from diagnostic message
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*
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* @return Diagnostic float 2
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field diagFl3 from diagnostic message
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*
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* @return Diagnostic float 3
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*/
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static inline float mavlink_msg_diagnostic_get_diagFl3(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 diagSh1 from diagnostic message
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*
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* @return Diagnostic short 1
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 12);
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}
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/**
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* @brief Get field diagSh2 from diagnostic message
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*
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* @return Diagnostic short 2
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 14);
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}
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/**
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* @brief Get field diagSh3 from diagnostic message
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*
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* @return Diagnostic short 3
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*/
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static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 16);
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}
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/**
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* @brief Decode a diagnostic message into a struct
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*
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* @param msg The message to decode
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* @param diagnostic C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg);
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diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg);
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diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg);
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diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg);
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diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg);
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diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DIAGNOSTIC_LEN? msg->len : MAVLINK_MSG_ID_DIAGNOSTIC_LEN;
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memset(diagnostic, 0, MAVLINK_MSG_ID_DIAGNOSTIC_LEN);
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memcpy(diagnostic, _MAV_PAYLOAD(msg), len);
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#endif
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}
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