// MESSAGE HEARTBEAT PACKING #define MAVLINK_MSG_ID_HEARTBEAT 0 MAVPACKED( typedef struct __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 }