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
}