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