// MESSAGE DISTANCE_SENSOR PACKING #define MAVLINK_MSG_ID_DISTANCE_SENSOR 132 typedef struct MAVLINK_PACKED __mavlink_distance_sensor_t { uint32_t time_boot_ms; /*< Time since system boot*/ uint16_t min_distance; /*< Minimum distance the sensor can measure in centimeters*/ uint16_t max_distance; /*< Maximum distance the sensor can measure in centimeters*/ uint16_t current_distance; /*< Current distance reading*/ uint8_t type; /*< Type from MAV_DISTANCE_SENSOR enum.*/ uint8_t id; /*< Onboard ID of the sensor*/ uint8_t orientation; /*< Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.*/ uint8_t covariance; /*< Measurement covariance in centimeters, 0 for unknown / invalid readings*/ } mavlink_distance_sensor_t; #define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN 14 #define MAVLINK_MSG_ID_132_LEN 14 #define MAVLINK_MSG_ID_132_MIN_LEN 14 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC 85 #define MAVLINK_MSG_ID_132_CRC 85 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \ 132, \ "DISTANCE_SENSOR", \ 8, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \ { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \ { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \ { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \ { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \ { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_DISTANCE_SENSOR { \ "DISTANCE_SENSOR", \ 8, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_distance_sensor_t, time_boot_ms) }, \ { "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_distance_sensor_t, min_distance) }, \ { "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_distance_sensor_t, max_distance) }, \ { "current_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_distance_sensor_t, current_distance) }, \ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_distance_sensor_t, type) }, \ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_distance_sensor_t, id) }, \ { "orientation", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_distance_sensor_t, orientation) }, \ { "covariance", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_distance_sensor_t, covariance) }, \ } \ } #endif /** * @brief Pack a distance_sensor 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 time_boot_ms Time since system boot * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading * @param type Type from MAV_DISTANCE_SENSOR enum. * @param id Onboard ID of the sensor * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, min_distance); _mav_put_uint16_t(buf, 6, max_distance); _mav_put_uint16_t(buf, 8, current_distance); _mav_put_uint8_t(buf, 10, type); _mav_put_uint8_t(buf, 11, id); _mav_put_uint8_t(buf, 12, orientation); _mav_put_uint8_t(buf, 13, covariance); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); #else mavlink_distance_sensor_t packet; packet.time_boot_ms = time_boot_ms; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.current_distance = current_distance; packet.type = type; packet.id = id; packet.orientation = orientation; packet.covariance = covariance; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); #endif msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); } /** * @brief Pack a distance_sensor 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 time_boot_ms Time since system boot * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading * @param type Type from MAV_DISTANCE_SENSOR enum. * @param id Onboard ID of the sensor * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,uint16_t min_distance,uint16_t max_distance,uint16_t current_distance,uint8_t type,uint8_t id,uint8_t orientation,uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, min_distance); _mav_put_uint16_t(buf, 6, max_distance); _mav_put_uint16_t(buf, 8, current_distance); _mav_put_uint8_t(buf, 10, type); _mav_put_uint8_t(buf, 11, id); _mav_put_uint8_t(buf, 12, orientation); _mav_put_uint8_t(buf, 13, covariance); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); #else mavlink_distance_sensor_t packet; packet.time_boot_ms = time_boot_ms; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.current_distance = current_distance; packet.type = type; packet.id = id; packet.orientation = orientation; packet.covariance = covariance; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); #endif msg->msgid = MAVLINK_MSG_ID_DISTANCE_SENSOR; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); } /** * @brief Encode a distance_sensor 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 distance_sensor C-struct to read the message contents from */ static inline uint16_t mavlink_msg_distance_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) { return mavlink_msg_distance_sensor_pack(system_id, component_id, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance); } /** * @brief Encode a distance_sensor 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 distance_sensor C-struct to read the message contents from */ static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_distance_sensor_t* distance_sensor) { return mavlink_msg_distance_sensor_pack_chan(system_id, component_id, chan, msg, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance); } /** * @brief Send a distance_sensor message * @param chan MAVLink channel to send the message * * @param time_boot_ms Time since system boot * @param min_distance Minimum distance the sensor can measure in centimeters * @param max_distance Maximum distance the sensor can measure in centimeters * @param current_distance Current distance reading * @param type Type from MAV_DISTANCE_SENSOR enum. * @param id Onboard ID of the sensor * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_distance_sensor_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, min_distance); _mav_put_uint16_t(buf, 6, max_distance); _mav_put_uint16_t(buf, 8, current_distance); _mav_put_uint8_t(buf, 10, type); _mav_put_uint8_t(buf, 11, id); _mav_put_uint8_t(buf, 12, orientation); _mav_put_uint8_t(buf, 13, covariance); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); #else mavlink_distance_sensor_t packet; packet.time_boot_ms = time_boot_ms; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.current_distance = current_distance; packet.type = type; packet.id = id; packet.orientation = orientation; packet.covariance = covariance; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); #endif } /** * @brief Send a distance_sensor message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_distance_sensor_send_struct(mavlink_channel_t chan, const mavlink_distance_sensor_t* distance_sensor) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_distance_sensor_send(chan, distance_sensor->time_boot_ms, distance_sensor->min_distance, distance_sensor->max_distance, distance_sensor->current_distance, distance_sensor->type, distance_sensor->id, distance_sensor->orientation, distance_sensor->covariance); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)distance_sensor, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); #endif } #if MAVLINK_MSG_ID_DISTANCE_SENSOR_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_distance_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint16_t min_distance, uint16_t max_distance, uint16_t current_distance, uint8_t type, uint8_t id, uint8_t orientation, uint8_t covariance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, min_distance); _mav_put_uint16_t(buf, 6, max_distance); _mav_put_uint16_t(buf, 8, current_distance); _mav_put_uint8_t(buf, 10, type); _mav_put_uint8_t(buf, 11, id); _mav_put_uint8_t(buf, 12, orientation); _mav_put_uint8_t(buf, 13, covariance); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, buf, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); #else mavlink_distance_sensor_t *packet = (mavlink_distance_sensor_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->min_distance = min_distance; packet->max_distance = max_distance; packet->current_distance = current_distance; packet->type = type; packet->id = id; packet->orientation = orientation; packet->covariance = covariance; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DISTANCE_SENSOR, (const char *)packet, MAVLINK_MSG_ID_DISTANCE_SENSOR_MIN_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN, MAVLINK_MSG_ID_DISTANCE_SENSOR_CRC); #endif } #endif #endif // MESSAGE DISTANCE_SENSOR UNPACKING /** * @brief Get field time_boot_ms from distance_sensor message * * @return Time since system boot */ static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field min_distance from distance_sensor message * * @return Minimum distance the sensor can measure in centimeters */ static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 4); } /** * @brief Get field max_distance from distance_sensor message * * @return Maximum distance the sensor can measure in centimeters */ static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 6); } /** * @brief Get field current_distance from distance_sensor message * * @return Current distance reading */ static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 8); } /** * @brief Get field type from distance_sensor message * * @return Type from MAV_DISTANCE_SENSOR enum. */ static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 10); } /** * @brief Get field id from distance_sensor message * * @return Onboard ID of the sensor */ static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 11); } /** * @brief Get field orientation from distance_sensor message * * @return Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. */ static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 12); } /** * @brief Get field covariance from distance_sensor message * * @return Measurement covariance in centimeters, 0 for unknown / invalid readings */ static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 13); } /** * @brief Decode a distance_sensor message into a struct * * @param msg The message to decode * @param distance_sensor C-struct to decode the message contents into */ static inline void mavlink_msg_distance_sensor_decode(const mavlink_message_t* msg, mavlink_distance_sensor_t* distance_sensor) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS distance_sensor->time_boot_ms = mavlink_msg_distance_sensor_get_time_boot_ms(msg); distance_sensor->min_distance = mavlink_msg_distance_sensor_get_min_distance(msg); distance_sensor->max_distance = mavlink_msg_distance_sensor_get_max_distance(msg); distance_sensor->current_distance = mavlink_msg_distance_sensor_get_current_distance(msg); distance_sensor->type = mavlink_msg_distance_sensor_get_type(msg); distance_sensor->id = mavlink_msg_distance_sensor_get_id(msg); distance_sensor->orientation = mavlink_msg_distance_sensor_get_orientation(msg); distance_sensor->covariance = mavlink_msg_distance_sensor_get_covariance(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN; memset(distance_sensor, 0, MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN); memcpy(distance_sensor, _MAV_PAYLOAD(msg), len); #endif }