// MESSAGE PARAM_VALUE PACKING #define MAVLINK_MSG_ID_PARAM_VALUE 22 typedef struct MAVLINK_PACKED __mavlink_param_value_t { float param_value; /*< Onboard parameter value*/ uint16_t param_count; /*< Total number of onboard parameters*/ uint16_t param_index; /*< Index of this onboard parameter*/ char param_id[16]; /*< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/ uint8_t param_type; /*< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.*/ } mavlink_param_value_t; #define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25 #define MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN 25 #define MAVLINK_MSG_ID_22_LEN 25 #define MAVLINK_MSG_ID_22_MIN_LEN 25 #define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220 #define MAVLINK_MSG_ID_22_CRC 220 #define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \ 22, \ "PARAM_VALUE", \ 5, \ { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \ { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \ { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \ { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \ { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \ "PARAM_VALUE", \ 5, \ { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \ { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \ { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \ { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \ { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \ } \ } #endif /** * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string * @param param_value Onboard parameter value * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; _mav_put_float(buf, 0, param_value); _mav_put_uint16_t(buf, 4, param_count); _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); #else mavlink_param_value_t packet; packet.param_value = param_value; packet.param_count = param_count; packet.param_index = param_index; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); } /** * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string * @param param_value Onboard parameter value * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; _mav_put_float(buf, 0, param_value); _mav_put_uint16_t(buf, 4, param_count); _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); #else mavlink_param_value_t packet; packet.param_value = param_value; packet.param_count = param_count; packet.param_index = param_index; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); } /** * @brief Encode a param_value 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 param_value C-struct to read the message contents from */ static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) { return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); } /** * @brief Encode a param_value 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 param_value C-struct to read the message contents from */ static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value) { return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); } /** * @brief Send a param_value message * @param chan MAVLink channel to send the message * * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string * @param param_value Onboard parameter value * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. * @param param_count Total number of onboard parameters * @param param_index Index of this onboard parameter */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; _mav_put_float(buf, 0, param_value); _mav_put_uint16_t(buf, 4, param_count); _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); #else mavlink_param_value_t packet; packet.param_value = param_value; packet.param_count = param_count; packet.param_index = param_index; packet.param_type = param_type; mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); #endif } /** * @brief Send a param_value message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_param_value_send_struct(mavlink_channel_t chan, const mavlink_param_value_t* param_value) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_param_value_send(chan, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)param_value, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); #endif } #if MAVLINK_MSG_ID_PARAM_VALUE_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_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, param_value); _mav_put_uint16_t(buf, 4, param_count); _mav_put_uint16_t(buf, 6, param_index); _mav_put_uint8_t(buf, 24, param_type); _mav_put_char_array(buf, 8, param_id, 16); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); #else mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf; packet->param_value = param_value; packet->param_count = param_count; packet->param_index = param_index; packet->param_type = param_type; mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); #endif } #endif #endif // MESSAGE PARAM_VALUE UNPACKING /** * @brief Get field param_id from param_value message * * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string */ static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id) { return _MAV_RETURN_char_array(msg, param_id, 16, 8); } /** * @brief Get field param_value from param_value message * * @return Onboard parameter value */ static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field param_type from param_value message * * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. */ static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 24); } /** * @brief Get field param_count from param_value message * * @return Total number of onboard parameters */ static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 4); } /** * @brief Get field param_index from param_value message * * @return Index of this onboard parameter */ static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 6); } /** * @brief Decode a param_value message into a struct * * @param msg The message to decode * @param param_value C-struct to decode the message contents into */ static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS param_value->param_value = mavlink_msg_param_value_get_param_value(msg); param_value->param_count = mavlink_msg_param_value_get_param_count(msg); param_value->param_index = mavlink_msg_param_value_get_param_index(msg); mavlink_msg_param_value_get_param_id(msg, param_value->param_id); param_value->param_type = mavlink_msg_param_value_get_param_type(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_PARAM_VALUE_LEN? msg->len : MAVLINK_MSG_ID_PARAM_VALUE_LEN; memset(param_value, 0, MAVLINK_MSG_ID_PARAM_VALUE_LEN); memcpy(param_value, _MAV_PAYLOAD(msg), len); #endif }