1 | // MESSAGE DEBUG PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_DEBUG 254 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_debug_t { |
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7 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/ |
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8 | float value; /*< DEBUG value*/ |
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9 | uint8_t ind; /*< index of debug variable*/ |
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10 | }) mavlink_debug_t; |
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11 | |
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12 | #define MAVLINK_MSG_ID_DEBUG_LEN 9 |
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13 | #define MAVLINK_MSG_ID_DEBUG_MIN_LEN 9 |
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14 | #define MAVLINK_MSG_ID_254_LEN 9 |
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15 | #define MAVLINK_MSG_ID_254_MIN_LEN 9 |
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16 | |
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17 | #define MAVLINK_MSG_ID_DEBUG_CRC 46 |
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18 | #define MAVLINK_MSG_ID_254_CRC 46 |
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19 | |
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20 | |
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21 | |
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22 | #if MAVLINK_COMMAND_24BIT |
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23 | #define MAVLINK_MESSAGE_INFO_DEBUG { \ |
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24 | 254, \ |
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25 | "DEBUG", \ |
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26 | 3, \ |
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27 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \ |
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28 | { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \ |
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29 | { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \ |
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30 | } \ |
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31 | } |
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32 | #else |
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33 | #define MAVLINK_MESSAGE_INFO_DEBUG { \ |
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34 | "DEBUG", \ |
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35 | 3, \ |
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36 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \ |
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37 | { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \ |
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38 | { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \ |
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39 | } \ |
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40 | } |
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41 | #endif |
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42 | |
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43 | /** |
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44 | * @brief Pack a debug message |
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45 | * @param system_id ID of this system |
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46 | * @param component_id ID of this component (e.g. 200 for IMU) |
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47 | * @param msg The MAVLink message to compress the data into |
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48 | * |
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49 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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50 | * @param ind index of debug variable |
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51 | * @param value DEBUG value |
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52 | * @return length of the message in bytes (excluding serial stream start sign) |
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53 | */ |
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54 | static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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55 | uint32_t time_boot_ms, uint8_t ind, float value) |
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56 | { |
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57 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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58 | char buf[MAVLINK_MSG_ID_DEBUG_LEN]; |
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59 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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60 | _mav_put_float(buf, 4, value); |
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61 | _mav_put_uint8_t(buf, 8, ind); |
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62 | |
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63 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN); |
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64 | #else |
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65 | mavlink_debug_t packet; |
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66 | packet.time_boot_ms = time_boot_ms; |
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67 | packet.value = value; |
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68 | packet.ind = ind; |
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69 | |
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70 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN); |
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71 | #endif |
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72 | |
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73 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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74 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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75 | } |
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76 | |
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77 | /** |
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78 | * @brief Pack a debug message on a channel |
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79 | * @param system_id ID of this system |
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80 | * @param component_id ID of this component (e.g. 200 for IMU) |
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81 | * @param chan The MAVLink channel this message will be sent over |
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82 | * @param msg The MAVLink message to compress the data into |
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83 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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84 | * @param ind index of debug variable |
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85 | * @param value DEBUG value |
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86 | * @return length of the message in bytes (excluding serial stream start sign) |
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87 | */ |
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88 | static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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89 | mavlink_message_t* msg, |
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90 | uint32_t time_boot_ms,uint8_t ind,float value) |
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91 | { |
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92 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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93 | char buf[MAVLINK_MSG_ID_DEBUG_LEN]; |
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94 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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95 | _mav_put_float(buf, 4, value); |
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96 | _mav_put_uint8_t(buf, 8, ind); |
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97 | |
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98 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN); |
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99 | #else |
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100 | mavlink_debug_t packet; |
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101 | packet.time_boot_ms = time_boot_ms; |
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102 | packet.value = value; |
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103 | packet.ind = ind; |
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104 | |
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105 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN); |
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106 | #endif |
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107 | |
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108 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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109 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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110 | } |
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111 | |
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112 | /** |
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113 | * @brief Encode a debug struct |
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114 | * |
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115 | * @param system_id ID of this system |
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116 | * @param component_id ID of this component (e.g. 200 for IMU) |
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117 | * @param msg The MAVLink message to compress the data into |
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118 | * @param debug C-struct to read the message contents from |
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119 | */ |
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120 | static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) |
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121 | { |
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122 | return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value); |
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123 | } |
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124 | |
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125 | /** |
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126 | * @brief Encode a debug struct on a channel |
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127 | * |
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128 | * @param system_id ID of this system |
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129 | * @param component_id ID of this component (e.g. 200 for IMU) |
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130 | * @param chan The MAVLink channel this message will be sent over |
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131 | * @param msg The MAVLink message to compress the data into |
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132 | * @param debug C-struct to read the message contents from |
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133 | */ |
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134 | static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_t* debug) |
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135 | { |
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136 | return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value); |
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137 | } |
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138 | |
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139 | /** |
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140 | * @brief Send a debug message |
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141 | * @param chan MAVLink channel to send the message |
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142 | * |
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143 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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144 | * @param ind index of debug variable |
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145 | * @param value DEBUG value |
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146 | */ |
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147 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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148 | |
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149 | static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) |
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150 | { |
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151 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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152 | char buf[MAVLINK_MSG_ID_DEBUG_LEN]; |
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153 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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154 | _mav_put_float(buf, 4, value); |
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155 | _mav_put_uint8_t(buf, 8, ind); |
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156 | |
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157 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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158 | #else |
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159 | mavlink_debug_t packet; |
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160 | packet.time_boot_ms = time_boot_ms; |
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161 | packet.value = value; |
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162 | packet.ind = ind; |
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163 | |
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164 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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165 | #endif |
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166 | } |
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167 | |
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168 | /** |
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169 | * @brief Send a debug message |
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170 | * @param chan MAVLink channel to send the message |
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171 | * @param struct The MAVLink struct to serialize |
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172 | */ |
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173 | static inline void mavlink_msg_debug_send_struct(mavlink_channel_t chan, const mavlink_debug_t* debug) |
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174 | { |
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175 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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176 | mavlink_msg_debug_send(chan, debug->time_boot_ms, debug->ind, debug->value); |
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177 | #else |
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178 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)debug, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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179 | #endif |
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180 | } |
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181 | |
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182 | #if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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183 | /* |
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184 | This varient of _send() can be used to save stack space by re-using |
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185 | memory from the receive buffer. The caller provides a |
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186 | mavlink_message_t which is the size of a full mavlink message. This |
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187 | is usually the receive buffer for the channel, and allows a reply to an |
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188 | incoming message with minimum stack space usage. |
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189 | */ |
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190 | static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value) |
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191 | { |
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192 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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193 | char *buf = (char *)msgbuf; |
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194 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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195 | _mav_put_float(buf, 4, value); |
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196 | _mav_put_uint8_t(buf, 8, ind); |
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197 | |
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198 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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199 | #else |
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200 | mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf; |
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201 | packet->time_boot_ms = time_boot_ms; |
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202 | packet->value = value; |
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203 | packet->ind = ind; |
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204 | |
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205 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC); |
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206 | #endif |
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207 | } |
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208 | #endif |
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209 | |
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210 | #endif |
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211 | |
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212 | // MESSAGE DEBUG UNPACKING |
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213 | |
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214 | |
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215 | /** |
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216 | * @brief Get field time_boot_ms from debug message |
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217 | * |
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218 | * @return Timestamp (milliseconds since system boot) |
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219 | */ |
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220 | static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg) |
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221 | { |
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222 | return _MAV_RETURN_uint32_t(msg, 0); |
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223 | } |
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224 | |
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225 | /** |
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226 | * @brief Get field ind from debug message |
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227 | * |
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228 | * @return index of debug variable |
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229 | */ |
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230 | static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) |
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231 | { |
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232 | return _MAV_RETURN_uint8_t(msg, 8); |
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233 | } |
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234 | |
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235 | /** |
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236 | * @brief Get field value from debug message |
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237 | * |
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238 | * @return DEBUG value |
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239 | */ |
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240 | static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) |
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241 | { |
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242 | return _MAV_RETURN_float(msg, 4); |
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243 | } |
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244 | |
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245 | /** |
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246 | * @brief Decode a debug message into a struct |
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247 | * |
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248 | * @param msg The message to decode |
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249 | * @param debug C-struct to decode the message contents into |
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250 | */ |
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251 | static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) |
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252 | { |
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253 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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254 | debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg); |
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255 | debug->value = mavlink_msg_debug_get_value(msg); |
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256 | debug->ind = mavlink_msg_debug_get_ind(msg); |
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257 | #else |
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258 | uint8_t len = msg->len < MAVLINK_MSG_ID_DEBUG_LEN? msg->len : MAVLINK_MSG_ID_DEBUG_LEN; |
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259 | memset(debug, 0, MAVLINK_MSG_ID_DEBUG_LEN); |
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260 | memcpy(debug, _MAV_PAYLOAD(msg), len); |
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261 | #endif |
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262 | } |
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