[324] | 1 | // MESSAGE HEARTBEAT PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_HEARTBEAT 0
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_heartbeat_t
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| 6 | {
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| 7 | uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/
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| 8 | uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
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| 9 | uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
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| 10 | uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/
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| 11 | uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/
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| 12 | uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
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| 13 | } mavlink_heartbeat_t;
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| 14 |
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| 15 | #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
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| 16 | #define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
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| 17 | #define MAVLINK_MSG_ID_0_LEN 9
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| 18 | #define MAVLINK_MSG_ID_0_MIN_LEN 9
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| 19 |
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| 20 | #define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
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| 21 | #define MAVLINK_MSG_ID_0_CRC 50
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| 22 |
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| 23 |
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| 24 |
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| 25 | #if MAVLINK_COMMAND_24BIT
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| 26 | #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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| 27 | 0, \
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| 28 | "HEARTBEAT", \
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| 29 | 6, \
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| 30 | { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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| 31 | { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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| 32 | { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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| 33 | { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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| 34 | { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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| 35 | { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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| 36 | } \
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| 37 | }
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| 38 | #else
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| 39 | #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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| 40 | "HEARTBEAT", \
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| 41 | 6, \
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| 42 | { { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
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| 43 | { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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| 44 | { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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| 45 | { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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| 46 | { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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| 47 | { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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| 48 | } \
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| 49 | }
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| 50 | #endif
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| 51 |
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| 52 | /**
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| 53 | * @brief Pack a heartbeat message
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| 54 | * @param system_id ID of this system
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| 55 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 56 | * @param msg The MAVLink message to compress the data into
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| 57 | *
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| 58 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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| 59 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
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| 60 | * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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| 61 | * @param custom_mode A bitfield for use for autopilot-specific flags.
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| 62 | * @param system_status System status flag, see MAV_STATE ENUM
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| 63 | * @return length of the message in bytes (excluding serial stream start sign)
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| 64 | */
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| 65 | static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 66 | uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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| 67 | {
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| 68 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 69 | char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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| 70 | _mav_put_uint32_t(buf, 0, custom_mode);
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| 71 | _mav_put_uint8_t(buf, 4, type);
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| 72 | _mav_put_uint8_t(buf, 5, autopilot);
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| 73 | _mav_put_uint8_t(buf, 6, base_mode);
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| 74 | _mav_put_uint8_t(buf, 7, system_status);
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| 75 | _mav_put_uint8_t(buf, 8, 3);
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| 76 |
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| 77 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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| 78 | #else
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| 79 | mavlink_heartbeat_t packet;
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| 80 | packet.custom_mode = custom_mode;
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| 81 | packet.type = type;
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| 82 | packet.autopilot = autopilot;
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| 83 | packet.base_mode = base_mode;
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| 84 | packet.system_status = system_status;
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| 85 | packet.mavlink_version = 3;
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| 86 |
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| 87 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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| 88 | #endif
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| 89 |
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| 90 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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| 91 | 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);
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| 92 | }
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| 93 |
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| 94 | /**
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| 95 | * @brief Pack a heartbeat message on a channel
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| 96 | * @param system_id ID of this system
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| 97 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 98 | * @param chan The MAVLink channel this message will be sent over
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| 99 | * @param msg The MAVLink message to compress the data into
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| 100 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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| 101 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
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| 102 | * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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| 103 | * @param custom_mode A bitfield for use for autopilot-specific flags.
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| 104 | * @param system_status System status flag, see MAV_STATE ENUM
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| 105 | * @return length of the message in bytes (excluding serial stream start sign)
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| 106 | */
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| 107 | static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 108 | mavlink_message_t* msg,
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| 109 | uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
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| 110 | {
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| 111 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 112 | char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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| 113 | _mav_put_uint32_t(buf, 0, custom_mode);
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| 114 | _mav_put_uint8_t(buf, 4, type);
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| 115 | _mav_put_uint8_t(buf, 5, autopilot);
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| 116 | _mav_put_uint8_t(buf, 6, base_mode);
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| 117 | _mav_put_uint8_t(buf, 7, system_status);
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| 118 | _mav_put_uint8_t(buf, 8, 3);
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| 119 |
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| 120 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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| 121 | #else
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| 122 | mavlink_heartbeat_t packet;
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| 123 | packet.custom_mode = custom_mode;
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| 124 | packet.type = type;
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| 125 | packet.autopilot = autopilot;
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| 126 | packet.base_mode = base_mode;
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| 127 | packet.system_status = system_status;
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| 128 | packet.mavlink_version = 3;
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| 129 |
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| 130 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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| 131 | #endif
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| 132 |
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| 133 | msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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| 134 | 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);
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| 135 | }
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| 136 |
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| 137 | /**
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| 138 | * @brief Encode a heartbeat struct
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| 139 | *
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| 140 | * @param system_id ID of this system
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| 141 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 142 | * @param msg The MAVLink message to compress the data into
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| 143 | * @param heartbeat C-struct to read the message contents from
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| 144 | */
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| 145 | 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)
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| 146 | {
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| 147 | return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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| 148 | }
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| 149 |
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| 150 | /**
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| 151 | * @brief Encode a heartbeat struct on a channel
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| 152 | *
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| 153 | * @param system_id ID of this system
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| 154 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 155 | * @param chan The MAVLink channel this message will be sent over
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| 156 | * @param msg The MAVLink message to compress the data into
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| 157 | * @param heartbeat C-struct to read the message contents from
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| 158 | */
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| 159 | 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)
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| 160 | {
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| 161 | 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);
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| 162 | }
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| 163 |
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| 164 | /**
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| 165 | * @brief Send a heartbeat message
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| 166 | * @param chan MAVLink channel to send the message
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| 167 | *
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| 168 | * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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| 169 | * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
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| 170 | * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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| 171 | * @param custom_mode A bitfield for use for autopilot-specific flags.
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| 172 | * @param system_status System status flag, see MAV_STATE ENUM
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| 173 | */
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| 174 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 175 |
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| 176 | 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)
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| 177 | {
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| 178 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 179 | char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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| 180 | _mav_put_uint32_t(buf, 0, custom_mode);
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| 181 | _mav_put_uint8_t(buf, 4, type);
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| 182 | _mav_put_uint8_t(buf, 5, autopilot);
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| 183 | _mav_put_uint8_t(buf, 6, base_mode);
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| 184 | _mav_put_uint8_t(buf, 7, system_status);
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| 185 | _mav_put_uint8_t(buf, 8, 3);
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| 186 |
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| 187 | _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);
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| 188 | #else
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| 189 | mavlink_heartbeat_t packet;
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| 190 | packet.custom_mode = custom_mode;
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| 191 | packet.type = type;
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| 192 | packet.autopilot = autopilot;
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| 193 | packet.base_mode = base_mode;
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| 194 | packet.system_status = system_status;
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| 195 | packet.mavlink_version = 3;
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| 196 |
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| 197 | _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);
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| 198 | #endif
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| 199 | }
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| 200 |
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| 201 | /**
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| 202 | * @brief Send a heartbeat message
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| 203 | * @param chan MAVLink channel to send the message
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| 204 | * @param struct The MAVLink struct to serialize
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| 205 | */
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| 206 | static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
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| 207 | {
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| 208 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 209 | mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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| 210 | #else
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| 211 | _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);
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| 212 | #endif
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| 213 | }
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| 214 |
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| 215 | #if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 216 | /*
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| 217 | This varient of _send() can be used to save stack space by re-using
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| 218 | memory from the receive buffer. The caller provides a
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| 219 | mavlink_message_t which is the size of a full mavlink message. This
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| 220 | is usually the receive buffer for the channel, and allows a reply to an
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| 221 | incoming message with minimum stack space usage.
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| 222 | */
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| 223 | 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)
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| 224 | {
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| 225 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 226 | char *buf = (char *)msgbuf;
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| 227 | _mav_put_uint32_t(buf, 0, custom_mode);
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| 228 | _mav_put_uint8_t(buf, 4, type);
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| 229 | _mav_put_uint8_t(buf, 5, autopilot);
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| 230 | _mav_put_uint8_t(buf, 6, base_mode);
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| 231 | _mav_put_uint8_t(buf, 7, system_status);
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| 232 | _mav_put_uint8_t(buf, 8, 3);
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| 233 |
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| 234 | _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);
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| 235 | #else
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| 236 | mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
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| 237 | packet->custom_mode = custom_mode;
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| 238 | packet->type = type;
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| 239 | packet->autopilot = autopilot;
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| 240 | packet->base_mode = base_mode;
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| 241 | packet->system_status = system_status;
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| 242 | packet->mavlink_version = 3;
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| 243 |
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| 244 | _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);
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| 245 | #endif
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| 246 | }
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| 247 | #endif
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| 248 |
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| 249 | #endif
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| 250 |
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| 251 | // MESSAGE HEARTBEAT UNPACKING
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| 252 |
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| 253 |
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| 254 | /**
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| 255 | * @brief Get field type from heartbeat message
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| 256 | *
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| 257 | * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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| 258 | */
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| 259 | static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
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| 260 | {
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| 261 | return _MAV_RETURN_uint8_t(msg, 4);
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| 262 | }
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| 263 |
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| 264 | /**
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| 265 | * @brief Get field autopilot from heartbeat message
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| 266 | *
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| 267 | * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
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| 268 | */
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| 269 | static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
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| 270 | {
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| 271 | return _MAV_RETURN_uint8_t(msg, 5);
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| 272 | }
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| 273 |
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| 274 | /**
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| 275 | * @brief Get field base_mode from heartbeat message
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| 276 | *
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| 277 | * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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| 278 | */
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| 279 | static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
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| 280 | {
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| 281 | return _MAV_RETURN_uint8_t(msg, 6);
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| 282 | }
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| 283 |
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| 284 | /**
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| 285 | * @brief Get field custom_mode from heartbeat message
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| 286 | *
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| 287 | * @return A bitfield for use for autopilot-specific flags.
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| 288 | */
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| 289 | static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
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| 290 | {
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| 291 | return _MAV_RETURN_uint32_t(msg, 0);
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| 292 | }
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| 293 |
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| 294 | /**
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| 295 | * @brief Get field system_status from heartbeat message
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| 296 | *
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| 297 | * @return System status flag, see MAV_STATE ENUM
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| 298 | */
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| 299 | static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
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| 300 | {
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| 301 | return _MAV_RETURN_uint8_t(msg, 7);
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| 302 | }
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| 303 |
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| 304 | /**
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| 305 | * @brief Get field mavlink_version from heartbeat message
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| 306 | *
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| 307 | * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
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| 308 | */
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| 309 | static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
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| 310 | {
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| 311 | return _MAV_RETURN_uint8_t(msg, 8);
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| 312 | }
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| 313 |
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| 314 | /**
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| 315 | * @brief Decode a heartbeat message into a struct
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| 316 | *
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| 317 | * @param msg The message to decode
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| 318 | * @param heartbeat C-struct to decode the message contents into
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| 319 | */
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| 320 | static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
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| 321 | {
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| 322 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 323 | heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
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| 324 | heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
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| 325 | heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
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| 326 | heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
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| 327 | heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
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| 328 | heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
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| 329 | #else
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| 330 | uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
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| 331 | memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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| 332 | memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
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| 333 | #endif
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| 334 | }
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