source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_heartbeat.h@ 75

// MESSAGE HEARTBEAT PACKING



#define MAVLINK_MSG_ID_HEARTBEAT 0



typedef struct MAVLINK_PACKED __mavlink_heartbeat_t

{

 uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/

 uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/

 uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/

 uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/

 uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/

 uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/

} mavlink_heartbeat_t;



#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9

#define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9

#define MAVLINK_MSG_ID_0_LEN 9

#define MAVLINK_MSG_ID_0_MIN_LEN 9



#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50

#define MAVLINK_MSG_ID_0_CRC 50







#if MAVLINK_COMMAND_24BIT

#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \

        0, \

        "HEARTBEAT", \

        6, \

        {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \

         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \

         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \

         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \

         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \

         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \

         } \

}

#else

#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \

        "HEARTBEAT", \

        6, \

        {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \

         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \

         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \

         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \

         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \

         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \

         } \

}

#endif



/**

 * @brief Pack a heartbeat message

 * @param system_id ID of this system

 * @param component_id ID of this component (e.g. 200 for IMU)

 * @param msg The MAVLink message to compress the data into

 *

 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)

 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM

 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h

 * @param custom_mode A bitfield for use for autopilot-specific flags.

 * @param system_status System status flag, see MAV_STATE ENUM

 * @return length of the message in bytes (excluding serial stream start sign)

 */

static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,

                                                       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];

        _mav_put_uint32_t(buf, 0, custom_mode);

        _mav_put_uint8_t(buf, 4, type);

        _mav_put_uint8_t(buf, 5, autopilot);

        _mav_put_uint8_t(buf, 6, base_mode);

        _mav_put_uint8_t(buf, 7, system_status);

        _mav_put_uint8_t(buf, 8, 3);



        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);

#else

        mavlink_heartbeat_t packet;

        packet.custom_mode = custom_mode;

        packet.type = type;

        packet.autopilot = autopilot;

        packet.base_mode = base_mode;

        packet.system_status = system_status;

        packet.mavlink_version = 3;



        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);

#endif



        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;

    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

}



/**

 * @brief Pack a heartbeat message on a channel

 * @param system_id ID of this system

 * @param component_id ID of this component (e.g. 200 for IMU)

 * @param chan The MAVLink channel this message will be sent over

 * @param msg The MAVLink message to compress the data into

 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)

 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM

 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h

 * @param custom_mode A bitfield for use for autopilot-specific flags.

 * @param system_status System status flag, see MAV_STATE ENUM

 * @return length of the message in bytes (excluding serial stream start sign)

 */

static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,

                                                           mavlink_message_t* msg,

                                                           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];

        _mav_put_uint32_t(buf, 0, custom_mode);

        _mav_put_uint8_t(buf, 4, type);

        _mav_put_uint8_t(buf, 5, autopilot);

        _mav_put_uint8_t(buf, 6, base_mode);

        _mav_put_uint8_t(buf, 7, system_status);

        _mav_put_uint8_t(buf, 8, 3);



        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);

#else

        mavlink_heartbeat_t packet;

        packet.custom_mode = custom_mode;

        packet.type = type;

        packet.autopilot = autopilot;

        packet.base_mode = base_mode;

        packet.system_status = system_status;

        packet.mavlink_version = 3;



        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);

#endif



        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;

    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

}



/**

 * @brief Encode a heartbeat struct

 *

 * @param system_id ID of this system

 * @param component_id ID of this component (e.g. 200 for IMU)

 * @param msg The MAVLink message to compress the data into

 * @param heartbeat C-struct to read the message contents from

 */

static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)

{

        return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);

}



/**

 * @brief Encode a heartbeat struct on a channel

 *

 * @param system_id ID of this system

 * @param component_id ID of this component (e.g. 200 for IMU)

 * @param chan The MAVLink channel this message will be sent over

 * @param msg The MAVLink message to compress the data into

 * @param heartbeat C-struct to read the message contents from

 */

static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)

{

        return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);

}



/**

 * @brief Send a heartbeat message

 * @param chan MAVLink channel to send the message

 *

 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)

 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM

 * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h

 * @param custom_mode A bitfield for use for autopilot-specific flags.

 * @param system_status System status flag, see MAV_STATE ENUM

 */

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS



static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];

        _mav_put_uint32_t(buf, 0, custom_mode);

        _mav_put_uint8_t(buf, 4, type);

        _mav_put_uint8_t(buf, 5, autopilot);

        _mav_put_uint8_t(buf, 6, base_mode);

        _mav_put_uint8_t(buf, 7, system_status);

        _mav_put_uint8_t(buf, 8, 3);



    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

#else

        mavlink_heartbeat_t packet;

        packet.custom_mode = custom_mode;

        packet.type = type;

        packet.autopilot = autopilot;

        packet.base_mode = base_mode;

        packet.system_status = system_status;

        packet.mavlink_version = 3;



    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

#endif

}



/**

 * @brief Send a heartbeat message

 * @param chan MAVLink channel to send the message

 * @param struct The MAVLink struct to serialize

 */

static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);

#else

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

#endif

}



#if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN

/*

  This varient of _send() can be used to save stack space by re-using

  memory from the receive buffer.  The caller provides a

  mavlink_message_t which is the size of a full mavlink message. This

  is usually the receive buffer for the channel, and allows a reply to an

  incoming message with minimum stack space usage.

 */

static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char *buf = (char *)msgbuf;

        _mav_put_uint32_t(buf, 0, custom_mode);

        _mav_put_uint8_t(buf, 4, type);

        _mav_put_uint8_t(buf, 5, autopilot);

        _mav_put_uint8_t(buf, 6, base_mode);

        _mav_put_uint8_t(buf, 7, system_status);

        _mav_put_uint8_t(buf, 8, 3);



    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

#else

        mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;

        packet->custom_mode = custom_mode;

        packet->type = type;

        packet->autopilot = autopilot;

        packet->base_mode = base_mode;

        packet->system_status = system_status;

        packet->mavlink_version = 3;



    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);

#endif

}

#endif



#endif



// MESSAGE HEARTBEAT UNPACKING





/**

 * @brief Get field type from heartbeat message

 *

 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)

 */

static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  4);

}



/**

 * @brief Get field autopilot from heartbeat message

 *

 * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM

 */

static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  5);

}



/**

 * @brief Get field base_mode from heartbeat message

 *

 * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h

 */

static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  6);

}



/**

 * @brief Get field custom_mode from heartbeat message

 *

 * @return A bitfield for use for autopilot-specific flags.

 */

static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint32_t(msg,  0);

}



/**

 * @brief Get field system_status from heartbeat message

 *

 * @return System status flag, see MAV_STATE ENUM

 */

static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  7);

}



/**

 * @brief Get field mavlink_version from heartbeat message

 *

 * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

 */

static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  8);

}



/**

 * @brief Decode a heartbeat message into a struct

 *

 * @param msg The message to decode

 * @param heartbeat C-struct to decode the message contents into

 */

static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);

        heartbeat->type = mavlink_msg_heartbeat_get_type(msg);

        heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);

        heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);

        heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);

        heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);

#else

        uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;

        memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);

        memcpy(heartbeat, _MAV_PAYLOAD(msg), len);

#endif

}