[324] | 1 | // MESSAGE SERVO_OUTPUT_RAW PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_servo_output_raw_t
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| 6 | {
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| 7 | uint32_t time_usec; /*< Timestamp (microseconds since system boot)*/
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| 8 | uint16_t servo1_raw; /*< Servo output 1 value, in microseconds*/
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| 9 | uint16_t servo2_raw; /*< Servo output 2 value, in microseconds*/
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| 10 | uint16_t servo3_raw; /*< Servo output 3 value, in microseconds*/
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| 11 | uint16_t servo4_raw; /*< Servo output 4 value, in microseconds*/
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| 12 | uint16_t servo5_raw; /*< Servo output 5 value, in microseconds*/
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| 13 | uint16_t servo6_raw; /*< Servo output 6 value, in microseconds*/
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| 14 | uint16_t servo7_raw; /*< Servo output 7 value, in microseconds*/
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| 15 | uint16_t servo8_raw; /*< Servo output 8 value, in microseconds*/
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| 16 | uint8_t port; /*< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.*/
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| 17 | } mavlink_servo_output_raw_t;
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| 18 |
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| 19 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21
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| 20 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN 21
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| 21 | #define MAVLINK_MSG_ID_36_LEN 21
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| 22 | #define MAVLINK_MSG_ID_36_MIN_LEN 21
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| 23 |
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| 24 | #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC 222
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| 25 | #define MAVLINK_MSG_ID_36_CRC 222
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| 26 |
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| 27 |
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| 28 |
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| 29 | #if MAVLINK_COMMAND_24BIT
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| 30 | #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
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| 31 | 36, \
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| 32 | "SERVO_OUTPUT_RAW", \
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| 33 | 10, \
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| 34 | { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
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| 35 | { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
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| 36 | { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
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| 37 | { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
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| 38 | { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
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| 39 | { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
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| 40 | { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
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| 41 | { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
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| 42 | { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
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| 43 | { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
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| 44 | } \
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| 45 | }
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| 46 | #else
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| 47 | #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
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| 48 | "SERVO_OUTPUT_RAW", \
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| 49 | 10, \
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| 50 | { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
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| 51 | { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
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| 52 | { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
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| 53 | { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
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| 54 | { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
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| 55 | { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
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| 56 | { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
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| 57 | { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
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| 58 | { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
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| 59 | { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
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| 60 | } \
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| 61 | }
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| 62 | #endif
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| 63 |
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| 64 | /**
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| 65 | * @brief Pack a servo_output_raw message
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| 66 | * @param system_id ID of this system
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| 67 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 68 | * @param msg The MAVLink message to compress the data into
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| 69 | *
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| 70 | * @param time_usec Timestamp (microseconds since system boot)
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| 71 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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| 72 | * @param servo1_raw Servo output 1 value, in microseconds
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| 73 | * @param servo2_raw Servo output 2 value, in microseconds
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| 74 | * @param servo3_raw Servo output 3 value, in microseconds
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| 75 | * @param servo4_raw Servo output 4 value, in microseconds
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| 76 | * @param servo5_raw Servo output 5 value, in microseconds
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| 77 | * @param servo6_raw Servo output 6 value, in microseconds
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| 78 | * @param servo7_raw Servo output 7 value, in microseconds
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| 79 | * @param servo8_raw Servo output 8 value, in microseconds
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| 80 | * @return length of the message in bytes (excluding serial stream start sign)
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| 81 | */
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| 82 | static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 83 | uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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| 84 | {
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| 85 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 86 | char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
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| 87 | _mav_put_uint32_t(buf, 0, time_usec);
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| 88 | _mav_put_uint16_t(buf, 4, servo1_raw);
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| 89 | _mav_put_uint16_t(buf, 6, servo2_raw);
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| 90 | _mav_put_uint16_t(buf, 8, servo3_raw);
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| 91 | _mav_put_uint16_t(buf, 10, servo4_raw);
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| 92 | _mav_put_uint16_t(buf, 12, servo5_raw);
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| 93 | _mav_put_uint16_t(buf, 14, servo6_raw);
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| 94 | _mav_put_uint16_t(buf, 16, servo7_raw);
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| 95 | _mav_put_uint16_t(buf, 18, servo8_raw);
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| 96 | _mav_put_uint8_t(buf, 20, port);
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| 97 |
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| 98 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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| 99 | #else
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| 100 | mavlink_servo_output_raw_t packet;
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| 101 | packet.time_usec = time_usec;
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| 102 | packet.servo1_raw = servo1_raw;
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| 103 | packet.servo2_raw = servo2_raw;
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| 104 | packet.servo3_raw = servo3_raw;
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| 105 | packet.servo4_raw = servo4_raw;
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| 106 | packet.servo5_raw = servo5_raw;
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| 107 | packet.servo6_raw = servo6_raw;
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| 108 | packet.servo7_raw = servo7_raw;
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| 109 | packet.servo8_raw = servo8_raw;
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| 110 | packet.port = port;
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| 111 |
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| 112 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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| 113 | #endif
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| 114 |
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| 115 | msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
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| 116 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 117 | }
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| 118 |
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| 119 | /**
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| 120 | * @brief Pack a servo_output_raw message on a channel
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| 121 | * @param system_id ID of this system
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| 122 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 123 | * @param chan The MAVLink channel this message will be sent over
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| 124 | * @param msg The MAVLink message to compress the data into
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| 125 | * @param time_usec Timestamp (microseconds since system boot)
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| 126 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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| 127 | * @param servo1_raw Servo output 1 value, in microseconds
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| 128 | * @param servo2_raw Servo output 2 value, in microseconds
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| 129 | * @param servo3_raw Servo output 3 value, in microseconds
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| 130 | * @param servo4_raw Servo output 4 value, in microseconds
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| 131 | * @param servo5_raw Servo output 5 value, in microseconds
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| 132 | * @param servo6_raw Servo output 6 value, in microseconds
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| 133 | * @param servo7_raw Servo output 7 value, in microseconds
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| 134 | * @param servo8_raw Servo output 8 value, in microseconds
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| 135 | * @return length of the message in bytes (excluding serial stream start sign)
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| 136 | */
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| 137 | static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 138 | mavlink_message_t* msg,
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| 139 | uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
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| 140 | {
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| 141 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 142 | char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
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| 143 | _mav_put_uint32_t(buf, 0, time_usec);
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| 144 | _mav_put_uint16_t(buf, 4, servo1_raw);
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| 145 | _mav_put_uint16_t(buf, 6, servo2_raw);
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| 146 | _mav_put_uint16_t(buf, 8, servo3_raw);
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| 147 | _mav_put_uint16_t(buf, 10, servo4_raw);
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| 148 | _mav_put_uint16_t(buf, 12, servo5_raw);
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| 149 | _mav_put_uint16_t(buf, 14, servo6_raw);
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| 150 | _mav_put_uint16_t(buf, 16, servo7_raw);
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| 151 | _mav_put_uint16_t(buf, 18, servo8_raw);
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| 152 | _mav_put_uint8_t(buf, 20, port);
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| 153 |
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| 154 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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| 155 | #else
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| 156 | mavlink_servo_output_raw_t packet;
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| 157 | packet.time_usec = time_usec;
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| 158 | packet.servo1_raw = servo1_raw;
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| 159 | packet.servo2_raw = servo2_raw;
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| 160 | packet.servo3_raw = servo3_raw;
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| 161 | packet.servo4_raw = servo4_raw;
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| 162 | packet.servo5_raw = servo5_raw;
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| 163 | packet.servo6_raw = servo6_raw;
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| 164 | packet.servo7_raw = servo7_raw;
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| 165 | packet.servo8_raw = servo8_raw;
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| 166 | packet.port = port;
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| 167 |
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| 168 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
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| 169 | #endif
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| 170 |
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| 171 | msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
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| 172 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 173 | }
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| 174 |
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| 175 | /**
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| 176 | * @brief Encode a servo_output_raw struct
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| 177 | *
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| 178 | * @param system_id ID of this system
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| 179 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 180 | * @param msg The MAVLink message to compress the data into
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| 181 | * @param servo_output_raw C-struct to read the message contents from
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| 182 | */
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| 183 | static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
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| 184 | {
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| 185 | return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
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| 186 | }
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| 187 |
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| 188 | /**
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| 189 | * @brief Encode a servo_output_raw struct on a channel
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| 190 | *
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| 191 | * @param system_id ID of this system
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| 192 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 193 | * @param chan The MAVLink channel this message will be sent over
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| 194 | * @param msg The MAVLink message to compress the data into
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| 195 | * @param servo_output_raw C-struct to read the message contents from
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| 196 | */
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| 197 | static inline uint16_t mavlink_msg_servo_output_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
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| 198 | {
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| 199 | return mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, chan, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
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| 200 | }
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| 201 |
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| 202 | /**
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| 203 | * @brief Send a servo_output_raw message
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| 204 | * @param chan MAVLink channel to send the message
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| 205 | *
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| 206 | * @param time_usec Timestamp (microseconds since system boot)
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| 207 | * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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| 208 | * @param servo1_raw Servo output 1 value, in microseconds
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| 209 | * @param servo2_raw Servo output 2 value, in microseconds
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| 210 | * @param servo3_raw Servo output 3 value, in microseconds
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| 211 | * @param servo4_raw Servo output 4 value, in microseconds
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| 212 | * @param servo5_raw Servo output 5 value, in microseconds
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| 213 | * @param servo6_raw Servo output 6 value, in microseconds
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| 214 | * @param servo7_raw Servo output 7 value, in microseconds
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| 215 | * @param servo8_raw Servo output 8 value, in microseconds
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| 216 | */
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| 217 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 218 |
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| 219 | static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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| 220 | {
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| 221 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 222 | char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
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| 223 | _mav_put_uint32_t(buf, 0, time_usec);
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| 224 | _mav_put_uint16_t(buf, 4, servo1_raw);
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| 225 | _mav_put_uint16_t(buf, 6, servo2_raw);
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| 226 | _mav_put_uint16_t(buf, 8, servo3_raw);
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| 227 | _mav_put_uint16_t(buf, 10, servo4_raw);
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| 228 | _mav_put_uint16_t(buf, 12, servo5_raw);
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| 229 | _mav_put_uint16_t(buf, 14, servo6_raw);
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| 230 | _mav_put_uint16_t(buf, 16, servo7_raw);
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| 231 | _mav_put_uint16_t(buf, 18, servo8_raw);
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| 232 | _mav_put_uint8_t(buf, 20, port);
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| 233 |
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| 234 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 235 | #else
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| 236 | mavlink_servo_output_raw_t packet;
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| 237 | packet.time_usec = time_usec;
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| 238 | packet.servo1_raw = servo1_raw;
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| 239 | packet.servo2_raw = servo2_raw;
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| 240 | packet.servo3_raw = servo3_raw;
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| 241 | packet.servo4_raw = servo4_raw;
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| 242 | packet.servo5_raw = servo5_raw;
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| 243 | packet.servo6_raw = servo6_raw;
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| 244 | packet.servo7_raw = servo7_raw;
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| 245 | packet.servo8_raw = servo8_raw;
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| 246 | packet.port = port;
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| 247 |
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| 248 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 249 | #endif
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| 250 | }
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| 251 |
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| 252 | /**
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| 253 | * @brief Send a servo_output_raw message
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| 254 | * @param chan MAVLink channel to send the message
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| 255 | * @param struct The MAVLink struct to serialize
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| 256 | */
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| 257 | static inline void mavlink_msg_servo_output_raw_send_struct(mavlink_channel_t chan, const mavlink_servo_output_raw_t* servo_output_raw)
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| 258 | {
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| 259 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 260 | mavlink_msg_servo_output_raw_send(chan, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
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| 261 | #else
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| 262 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)servo_output_raw, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 263 | #endif
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| 264 | }
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| 265 |
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| 266 | #if MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 267 | /*
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| 268 | This varient of _send() can be used to save stack space by re-using
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| 269 | memory from the receive buffer. The caller provides a
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| 270 | mavlink_message_t which is the size of a full mavlink message. This
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| 271 | is usually the receive buffer for the channel, and allows a reply to an
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| 272 | incoming message with minimum stack space usage.
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| 273 | */
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| 274 | static inline void mavlink_msg_servo_output_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
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| 275 | {
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| 276 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 277 | char *buf = (char *)msgbuf;
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| 278 | _mav_put_uint32_t(buf, 0, time_usec);
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| 279 | _mav_put_uint16_t(buf, 4, servo1_raw);
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| 280 | _mav_put_uint16_t(buf, 6, servo2_raw);
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| 281 | _mav_put_uint16_t(buf, 8, servo3_raw);
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| 282 | _mav_put_uint16_t(buf, 10, servo4_raw);
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| 283 | _mav_put_uint16_t(buf, 12, servo5_raw);
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| 284 | _mav_put_uint16_t(buf, 14, servo6_raw);
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| 285 | _mav_put_uint16_t(buf, 16, servo7_raw);
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| 286 | _mav_put_uint16_t(buf, 18, servo8_raw);
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| 287 | _mav_put_uint8_t(buf, 20, port);
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| 288 |
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| 289 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 290 | #else
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| 291 | mavlink_servo_output_raw_t *packet = (mavlink_servo_output_raw_t *)msgbuf;
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| 292 | packet->time_usec = time_usec;
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| 293 | packet->servo1_raw = servo1_raw;
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| 294 | packet->servo2_raw = servo2_raw;
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| 295 | packet->servo3_raw = servo3_raw;
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| 296 | packet->servo4_raw = servo4_raw;
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| 297 | packet->servo5_raw = servo5_raw;
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| 298 | packet->servo6_raw = servo6_raw;
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| 299 | packet->servo7_raw = servo7_raw;
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| 300 | packet->servo8_raw = servo8_raw;
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| 301 | packet->port = port;
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| 302 |
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| 303 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
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| 304 | #endif
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| 305 | }
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| 306 | #endif
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| 307 |
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| 308 | #endif
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| 309 |
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| 310 | // MESSAGE SERVO_OUTPUT_RAW UNPACKING
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| 311 |
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| 312 |
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| 313 | /**
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| 314 | * @brief Get field time_usec from servo_output_raw message
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| 315 | *
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| 316 | * @return Timestamp (microseconds since system boot)
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| 317 | */
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| 318 | static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg)
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| 319 | {
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| 320 | return _MAV_RETURN_uint32_t(msg, 0);
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| 321 | }
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| 322 |
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| 323 | /**
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| 324 | * @brief Get field port from servo_output_raw message
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| 325 | *
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| 326 | * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
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| 327 | */
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| 328 | static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg)
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| 329 | {
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| 330 | return _MAV_RETURN_uint8_t(msg, 20);
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| 331 | }
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| 332 |
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| 333 | /**
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| 334 | * @brief Get field servo1_raw from servo_output_raw message
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| 335 | *
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| 336 | * @return Servo output 1 value, in microseconds
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| 337 | */
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| 338 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
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| 339 | {
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| 340 | return _MAV_RETURN_uint16_t(msg, 4);
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| 341 | }
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| 342 |
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| 343 | /**
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| 344 | * @brief Get field servo2_raw from servo_output_raw message
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| 345 | *
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| 346 | * @return Servo output 2 value, in microseconds
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| 347 | */
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| 348 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
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| 349 | {
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| 350 | return _MAV_RETURN_uint16_t(msg, 6);
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| 351 | }
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| 352 |
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| 353 | /**
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| 354 | * @brief Get field servo3_raw from servo_output_raw message
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| 355 | *
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| 356 | * @return Servo output 3 value, in microseconds
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| 357 | */
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| 358 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
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| 359 | {
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| 360 | return _MAV_RETURN_uint16_t(msg, 8);
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| 361 | }
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| 362 |
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| 363 | /**
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| 364 | * @brief Get field servo4_raw from servo_output_raw message
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| 365 | *
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| 366 | * @return Servo output 4 value, in microseconds
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| 367 | */
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| 368 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
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| 369 | {
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| 370 | return _MAV_RETURN_uint16_t(msg, 10);
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| 371 | }
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| 372 |
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| 373 | /**
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| 374 | * @brief Get field servo5_raw from servo_output_raw message
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| 375 | *
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| 376 | * @return Servo output 5 value, in microseconds
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| 377 | */
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| 378 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
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| 379 | {
|
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| 380 | return _MAV_RETURN_uint16_t(msg, 12);
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| 381 | }
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| 382 |
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| 383 | /**
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| 384 | * @brief Get field servo6_raw from servo_output_raw message
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| 385 | *
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| 386 | * @return Servo output 6 value, in microseconds
|
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| 387 | */
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| 388 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
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| 389 | {
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| 390 | return _MAV_RETURN_uint16_t(msg, 14);
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| 391 | }
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| 392 |
|
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| 393 | /**
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| 394 | * @brief Get field servo7_raw from servo_output_raw message
|
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| 395 | *
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| 396 | * @return Servo output 7 value, in microseconds
|
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| 397 | */
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| 398 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
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| 399 | {
|
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| 400 | return _MAV_RETURN_uint16_t(msg, 16);
|
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| 401 | }
|
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| 402 |
|
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| 403 | /**
|
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| 404 | * @brief Get field servo8_raw from servo_output_raw message
|
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| 405 | *
|
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| 406 | * @return Servo output 8 value, in microseconds
|
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| 407 | */
|
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| 408 | static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
|
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| 409 | {
|
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| 410 | return _MAV_RETURN_uint16_t(msg, 18);
|
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| 411 | }
|
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| 412 |
|
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| 413 | /**
|
---|
| 414 | * @brief Decode a servo_output_raw message into a struct
|
---|
| 415 | *
|
---|
| 416 | * @param msg The message to decode
|
---|
| 417 | * @param servo_output_raw C-struct to decode the message contents into
|
---|
| 418 | */
|
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| 419 | static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
|
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| 420 | {
|
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| 421 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 422 | servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg);
|
---|
| 423 | servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
|
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| 424 | servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
|
---|
| 425 | servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
|
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| 426 | servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
|
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| 427 | servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
|
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| 428 | servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
|
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| 429 | servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
|
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| 430 | servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
|
---|
| 431 | servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg);
|
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| 432 | #else
|
---|
| 433 | uint8_t len = msg->len < MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN? msg->len : MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN;
|
---|
| 434 | memset(servo_output_raw, 0, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
|
---|
| 435 | memcpy(servo_output_raw, _MAV_PAYLOAD(msg), len);
|
---|
| 436 | #endif
|
---|
| 437 | }
|
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