// MESSAGE BATTERY_STATUS PACKING #define MAVLINK_MSG_ID_BATTERY_STATUS 147 typedef struct MAVLINK_PACKED __mavlink_battery_status_t { int32_t current_consumed; /*< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate*/ int32_t energy_consumed; /*< Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate*/ int16_t temperature; /*< Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.*/ uint16_t voltages[10]; /*< Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value.*/ int16_t current_battery; /*< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current*/ uint8_t id; /*< Battery ID*/ uint8_t battery_function; /*< Function of the battery*/ uint8_t type; /*< Type (chemistry) of the battery*/ int8_t battery_remaining; /*< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery*/ } mavlink_battery_status_t; #define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 36 #define MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN 36 #define MAVLINK_MSG_ID_147_LEN 36 #define MAVLINK_MSG_ID_147_MIN_LEN 36 #define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 154 #define MAVLINK_MSG_ID_147_CRC 154 #define MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN 10 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \ 147, \ "BATTERY_STATUS", \ 9, \ { { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \ { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \ { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_battery_status_t, temperature) }, \ { "voltages", NULL, MAVLINK_TYPE_UINT16_T, 10, 10, offsetof(mavlink_battery_status_t, voltages) }, \ { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_battery_status_t, current_battery) }, \ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_battery_status_t, id) }, \ { "battery_function", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_battery_status_t, battery_function) }, \ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_battery_status_t, type) }, \ { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 35, offsetof(mavlink_battery_status_t, battery_remaining) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \ "BATTERY_STATUS", \ 9, \ { { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \ { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \ { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_battery_status_t, temperature) }, \ { "voltages", NULL, MAVLINK_TYPE_UINT16_T, 10, 10, offsetof(mavlink_battery_status_t, voltages) }, \ { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_battery_status_t, current_battery) }, \ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_battery_status_t, id) }, \ { "battery_function", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_battery_status_t, battery_function) }, \ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_battery_status_t, type) }, \ { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 35, offsetof(mavlink_battery_status_t, battery_remaining) }, \ } \ } #endif /** * @brief Pack a battery_status 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 id Battery ID * @param battery_function Function of the battery * @param type Type (chemistry) of the battery * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value. * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; _mav_put_int32_t(buf, 0, current_consumed); _mav_put_int32_t(buf, 4, energy_consumed); _mav_put_int16_t(buf, 8, temperature); _mav_put_int16_t(buf, 30, current_battery); _mav_put_uint8_t(buf, 32, id); _mav_put_uint8_t(buf, 33, battery_function); _mav_put_uint8_t(buf, 34, type); _mav_put_int8_t(buf, 35, battery_remaining); _mav_put_uint16_t_array(buf, 10, voltages, 10); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; packet.current_consumed = current_consumed; packet.energy_consumed = energy_consumed; packet.temperature = temperature; packet.current_battery = current_battery; packet.id = id; packet.battery_function = battery_function; packet.type = type; packet.battery_remaining = battery_remaining; mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); } /** * @brief Pack a battery_status 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 id Battery ID * @param battery_function Function of the battery * @param type Type (chemistry) of the battery * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value. * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t id,uint8_t battery_function,uint8_t type,int16_t temperature,const uint16_t *voltages,int16_t current_battery,int32_t current_consumed,int32_t energy_consumed,int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; _mav_put_int32_t(buf, 0, current_consumed); _mav_put_int32_t(buf, 4, energy_consumed); _mav_put_int16_t(buf, 8, temperature); _mav_put_int16_t(buf, 30, current_battery); _mav_put_uint8_t(buf, 32, id); _mav_put_uint8_t(buf, 33, battery_function); _mav_put_uint8_t(buf, 34, type); _mav_put_int8_t(buf, 35, battery_remaining); _mav_put_uint16_t_array(buf, 10, voltages, 10); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #else mavlink_battery_status_t packet; packet.current_consumed = current_consumed; packet.energy_consumed = energy_consumed; packet.temperature = temperature; packet.current_battery = current_battery; packet.id = id; packet.battery_function = battery_function; packet.type = type; packet.battery_remaining = battery_remaining; mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); } /** * @brief Encode a battery_status 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 battery_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) { return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->id, battery_status->battery_function, battery_status->type, battery_status->temperature, battery_status->voltages, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); } /** * @brief Encode a battery_status 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 battery_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status) { return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->id, battery_status->battery_function, battery_status->type, battery_status->temperature, battery_status->voltages, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); } /** * @brief Send a battery_status message * @param chan MAVLink channel to send the message * * @param id Battery ID * @param battery_function Function of the battery * @param type Type (chemistry) of the battery * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value. * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN]; _mav_put_int32_t(buf, 0, current_consumed); _mav_put_int32_t(buf, 4, energy_consumed); _mav_put_int16_t(buf, 8, temperature); _mav_put_int16_t(buf, 30, current_battery); _mav_put_uint8_t(buf, 32, id); _mav_put_uint8_t(buf, 33, battery_function); _mav_put_uint8_t(buf, 34, type); _mav_put_int8_t(buf, 35, battery_remaining); _mav_put_uint16_t_array(buf, 10, voltages, 10); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); #else mavlink_battery_status_t packet; packet.current_consumed = current_consumed; packet.energy_consumed = energy_consumed; packet.temperature = temperature; packet.current_battery = current_battery; packet.id = id; packet.battery_function = battery_function; packet.type = type; packet.battery_remaining = battery_remaining; mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); #endif } /** * @brief Send a battery_status message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_battery_status_send_struct(mavlink_channel_t chan, const mavlink_battery_status_t* battery_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_battery_status_send(chan, battery_status->id, battery_status->battery_function, battery_status->type, battery_status->temperature, battery_status->voltages, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)battery_status, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); #endif } #if MAVLINK_MSG_ID_BATTERY_STATUS_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_battery_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_int32_t(buf, 0, current_consumed); _mav_put_int32_t(buf, 4, energy_consumed); _mav_put_int16_t(buf, 8, temperature); _mav_put_int16_t(buf, 30, current_battery); _mav_put_uint8_t(buf, 32, id); _mav_put_uint8_t(buf, 33, battery_function); _mav_put_uint8_t(buf, 34, type); _mav_put_int8_t(buf, 35, battery_remaining); _mav_put_uint16_t_array(buf, 10, voltages, 10); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); #else mavlink_battery_status_t *packet = (mavlink_battery_status_t *)msgbuf; packet->current_consumed = current_consumed; packet->energy_consumed = energy_consumed; packet->temperature = temperature; packet->current_battery = current_battery; packet->id = id; packet->battery_function = battery_function; packet->type = type; packet->battery_remaining = battery_remaining; mav_array_memcpy(packet->voltages, voltages, sizeof(uint16_t)*10); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_MIN_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC); #endif } #endif #endif // MESSAGE BATTERY_STATUS UNPACKING /** * @brief Get field id from battery_status message * * @return Battery ID */ static inline uint8_t mavlink_msg_battery_status_get_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 32); } /** * @brief Get field battery_function from battery_status message * * @return Function of the battery */ static inline uint8_t mavlink_msg_battery_status_get_battery_function(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 33); } /** * @brief Get field type from battery_status message * * @return Type (chemistry) of the battery */ static inline uint8_t mavlink_msg_battery_status_get_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 34); } /** * @brief Get field temperature from battery_status message * * @return Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. */ static inline int16_t mavlink_msg_battery_status_get_temperature(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 8); } /** * @brief Get field voltages from battery_status message * * @return Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value. */ static inline uint16_t mavlink_msg_battery_status_get_voltages(const mavlink_message_t* msg, uint16_t *voltages) { return _MAV_RETURN_uint16_t_array(msg, voltages, 10, 10); } /** * @brief Get field current_battery from battery_status message * * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current */ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 30); } /** * @brief Get field current_consumed from battery_status message * * @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate */ static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 0); } /** * @brief Get field energy_consumed from battery_status message * * @return Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate */ static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field battery_remaining from battery_status message * * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery */ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg) { return _MAV_RETURN_int8_t(msg, 35); } /** * @brief Decode a battery_status message into a struct * * @param msg The message to decode * @param battery_status C-struct to decode the message contents into */ static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg); battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg); battery_status->temperature = mavlink_msg_battery_status_get_temperature(msg); mavlink_msg_battery_status_get_voltages(msg, battery_status->voltages); battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg); battery_status->id = mavlink_msg_battery_status_get_id(msg); battery_status->battery_function = mavlink_msg_battery_status_get_battery_function(msg); battery_status->type = mavlink_msg_battery_status_get_type(msg); battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_BATTERY_STATUS_LEN? msg->len : MAVLINK_MSG_ID_BATTERY_STATUS_LEN; memset(battery_status, 0, MAVLINK_MSG_ID_BATTERY_STATUS_LEN); memcpy(battery_status, _MAV_PAYLOAD(msg), len); #endif }