[88] | 1 | // MESSAGE SYS_STATUS PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_SYS_STATUS 1
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_sys_status_t
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| 6 | {
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| 7 | uint32_t onboard_control_sensors_present; /*< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
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| 8 | uint32_t onboard_control_sensors_enabled; /*< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
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| 9 | uint32_t onboard_control_sensors_health; /*< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
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| 10 | uint16_t load; /*< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000*/
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| 11 | uint16_t voltage_battery; /*< Battery voltage, in millivolts (1 = 1 millivolt)*/
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| 12 | int16_t current_battery; /*< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current*/
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| 13 | uint16_t drop_rate_comm; /*< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)*/
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| 14 | uint16_t errors_comm; /*< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)*/
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| 15 | uint16_t errors_count1; /*< Autopilot-specific errors*/
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| 16 | uint16_t errors_count2; /*< Autopilot-specific errors*/
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| 17 | uint16_t errors_count3; /*< Autopilot-specific errors*/
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| 18 | uint16_t errors_count4; /*< Autopilot-specific errors*/
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| 19 | int8_t battery_remaining; /*< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery*/
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| 20 | } mavlink_sys_status_t;
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| 21 |
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| 22 | #define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
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| 23 | #define MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN 31
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| 24 | #define MAVLINK_MSG_ID_1_LEN 31
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| 25 | #define MAVLINK_MSG_ID_1_MIN_LEN 31
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| 26 |
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| 27 | #define MAVLINK_MSG_ID_SYS_STATUS_CRC 124
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| 28 | #define MAVLINK_MSG_ID_1_CRC 124
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| 29 |
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| 30 |
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| 31 |
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| 32 | #if MAVLINK_COMMAND_24BIT
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| 33 | #define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
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| 34 | 1, \
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| 35 | "SYS_STATUS", \
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| 36 | 13, \
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| 37 | { { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
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| 38 | { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
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| 39 | { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
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| 40 | { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
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| 41 | { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
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| 42 | { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
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| 43 | { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
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| 44 | { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
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| 45 | { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
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| 46 | { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
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| 47 | { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
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| 48 | { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
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| 49 | { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
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| 50 | } \
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| 51 | }
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| 52 | #else
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| 53 | #define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
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| 54 | "SYS_STATUS", \
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| 55 | 13, \
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| 56 | { { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
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| 57 | { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
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| 58 | { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
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| 59 | { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
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| 60 | { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
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| 61 | { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
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| 62 | { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
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| 63 | { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
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| 64 | { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
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| 65 | { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
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| 66 | { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
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| 67 | { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
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| 68 | { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
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| 69 | } \
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| 70 | }
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| 71 | #endif
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| 72 |
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| 73 | /**
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| 74 | * @brief Pack a sys_status message
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| 75 | * @param system_id ID of this system
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| 76 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 77 | * @param msg The MAVLink message to compress the data into
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| 78 | *
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| 79 | * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 80 | * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 81 | * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 82 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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| 83 | * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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| 84 | * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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| 85 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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| 86 | * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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| 87 | * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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| 88 | * @param errors_count1 Autopilot-specific errors
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| 89 | * @param errors_count2 Autopilot-specific errors
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| 90 | * @param errors_count3 Autopilot-specific errors
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| 91 | * @param errors_count4 Autopilot-specific errors
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| 92 | * @return length of the message in bytes (excluding serial stream start sign)
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| 93 | */
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| 94 | static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 95 | uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
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| 96 | {
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| 97 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 98 | char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
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| 99 | _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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| 100 | _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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| 101 | _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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| 102 | _mav_put_uint16_t(buf, 12, load);
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| 103 | _mav_put_uint16_t(buf, 14, voltage_battery);
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| 104 | _mav_put_int16_t(buf, 16, current_battery);
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| 105 | _mav_put_uint16_t(buf, 18, drop_rate_comm);
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| 106 | _mav_put_uint16_t(buf, 20, errors_comm);
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| 107 | _mav_put_uint16_t(buf, 22, errors_count1);
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| 108 | _mav_put_uint16_t(buf, 24, errors_count2);
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| 109 | _mav_put_uint16_t(buf, 26, errors_count3);
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| 110 | _mav_put_uint16_t(buf, 28, errors_count4);
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| 111 | _mav_put_int8_t(buf, 30, battery_remaining);
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| 112 |
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| 113 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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| 114 | #else
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| 115 | mavlink_sys_status_t packet;
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| 116 | packet.onboard_control_sensors_present = onboard_control_sensors_present;
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| 117 | packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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| 118 | packet.onboard_control_sensors_health = onboard_control_sensors_health;
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| 119 | packet.load = load;
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| 120 | packet.voltage_battery = voltage_battery;
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| 121 | packet.current_battery = current_battery;
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| 122 | packet.drop_rate_comm = drop_rate_comm;
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| 123 | packet.errors_comm = errors_comm;
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| 124 | packet.errors_count1 = errors_count1;
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| 125 | packet.errors_count2 = errors_count2;
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| 126 | packet.errors_count3 = errors_count3;
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| 127 | packet.errors_count4 = errors_count4;
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| 128 | packet.battery_remaining = battery_remaining;
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| 129 |
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| 130 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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| 131 | #endif
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| 132 |
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| 133 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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| 134 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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| 135 | }
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| 136 |
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| 137 | /**
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| 138 | * @brief Pack a sys_status message on a channel
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| 139 | * @param system_id ID of this system
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| 140 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 141 | * @param chan The MAVLink channel this message will be sent over
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| 142 | * @param msg The MAVLink message to compress the data into
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| 143 | * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 144 | * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 145 | * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 146 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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| 147 | * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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| 148 | * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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| 149 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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| 150 | * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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| 151 | * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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| 152 | * @param errors_count1 Autopilot-specific errors
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| 153 | * @param errors_count2 Autopilot-specific errors
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| 154 | * @param errors_count3 Autopilot-specific errors
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| 155 | * @param errors_count4 Autopilot-specific errors
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| 156 | * @return length of the message in bytes (excluding serial stream start sign)
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| 157 | */
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| 158 | static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 159 | mavlink_message_t* msg,
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| 160 | uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4)
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| 161 | {
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| 162 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 163 | char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
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| 164 | _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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| 165 | _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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| 166 | _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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| 167 | _mav_put_uint16_t(buf, 12, load);
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| 168 | _mav_put_uint16_t(buf, 14, voltage_battery);
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| 169 | _mav_put_int16_t(buf, 16, current_battery);
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| 170 | _mav_put_uint16_t(buf, 18, drop_rate_comm);
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| 171 | _mav_put_uint16_t(buf, 20, errors_comm);
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| 172 | _mav_put_uint16_t(buf, 22, errors_count1);
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| 173 | _mav_put_uint16_t(buf, 24, errors_count2);
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| 174 | _mav_put_uint16_t(buf, 26, errors_count3);
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| 175 | _mav_put_uint16_t(buf, 28, errors_count4);
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| 176 | _mav_put_int8_t(buf, 30, battery_remaining);
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| 177 |
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| 178 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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| 179 | #else
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| 180 | mavlink_sys_status_t packet;
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| 181 | packet.onboard_control_sensors_present = onboard_control_sensors_present;
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| 182 | packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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| 183 | packet.onboard_control_sensors_health = onboard_control_sensors_health;
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| 184 | packet.load = load;
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| 185 | packet.voltage_battery = voltage_battery;
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| 186 | packet.current_battery = current_battery;
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| 187 | packet.drop_rate_comm = drop_rate_comm;
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| 188 | packet.errors_comm = errors_comm;
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| 189 | packet.errors_count1 = errors_count1;
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| 190 | packet.errors_count2 = errors_count2;
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| 191 | packet.errors_count3 = errors_count3;
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| 192 | packet.errors_count4 = errors_count4;
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| 193 | packet.battery_remaining = battery_remaining;
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| 194 |
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| 195 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
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| 196 | #endif
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| 197 |
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| 198 | msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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| 199 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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| 200 | }
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| 201 |
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| 202 | /**
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| 203 | * @brief Encode a sys_status struct
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| 204 | *
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| 205 | * @param system_id ID of this system
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| 206 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 207 | * @param msg The MAVLink message to compress the data into
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| 208 | * @param sys_status C-struct to read the message contents from
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| 209 | */
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| 210 | static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
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| 211 | {
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| 212 | return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
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| 213 | }
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| 214 |
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| 215 | /**
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| 216 | * @brief Encode a sys_status struct on a channel
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| 217 | *
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| 218 | * @param system_id ID of this system
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| 219 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 220 | * @param chan The MAVLink channel this message will be sent over
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| 221 | * @param msg The MAVLink message to compress the data into
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| 222 | * @param sys_status C-struct to read the message contents from
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| 223 | */
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| 224 | static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
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| 225 | {
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| 226 | return mavlink_msg_sys_status_pack_chan(system_id, component_id, chan, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
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| 227 | }
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| 228 |
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| 229 | /**
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| 230 | * @brief Send a sys_status message
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| 231 | * @param chan MAVLink channel to send the message
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| 232 | *
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| 233 | * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 234 | * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 235 | * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
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| 236 | * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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| 237 | * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
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| 238 | * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
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| 239 | * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
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| 240 | * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
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| 241 | * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
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| 242 | * @param errors_count1 Autopilot-specific errors
|
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| 243 | * @param errors_count2 Autopilot-specific errors
|
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| 244 | * @param errors_count3 Autopilot-specific errors
|
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| 245 | * @param errors_count4 Autopilot-specific errors
|
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| 246 | */
|
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| 247 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 248 |
|
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| 249 | static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
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| 250 | {
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| 251 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 252 | char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
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| 253 | _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
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| 254 | _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
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| 255 | _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
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| 256 | _mav_put_uint16_t(buf, 12, load);
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| 257 | _mav_put_uint16_t(buf, 14, voltage_battery);
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| 258 | _mav_put_int16_t(buf, 16, current_battery);
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| 259 | _mav_put_uint16_t(buf, 18, drop_rate_comm);
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| 260 | _mav_put_uint16_t(buf, 20, errors_comm);
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| 261 | _mav_put_uint16_t(buf, 22, errors_count1);
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| 262 | _mav_put_uint16_t(buf, 24, errors_count2);
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| 263 | _mav_put_uint16_t(buf, 26, errors_count3);
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| 264 | _mav_put_uint16_t(buf, 28, errors_count4);
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| 265 | _mav_put_int8_t(buf, 30, battery_remaining);
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| 266 |
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| 267 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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| 268 | #else
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| 269 | mavlink_sys_status_t packet;
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| 270 | packet.onboard_control_sensors_present = onboard_control_sensors_present;
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| 271 | packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
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| 272 | packet.onboard_control_sensors_health = onboard_control_sensors_health;
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| 273 | packet.load = load;
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| 274 | packet.voltage_battery = voltage_battery;
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| 275 | packet.current_battery = current_battery;
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| 276 | packet.drop_rate_comm = drop_rate_comm;
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| 277 | packet.errors_comm = errors_comm;
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| 278 | packet.errors_count1 = errors_count1;
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| 279 | packet.errors_count2 = errors_count2;
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| 280 | packet.errors_count3 = errors_count3;
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| 281 | packet.errors_count4 = errors_count4;
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| 282 | packet.battery_remaining = battery_remaining;
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| 283 |
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| 284 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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| 285 | #endif
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| 286 | }
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| 287 |
|
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| 288 | /**
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| 289 | * @brief Send a sys_status message
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| 290 | * @param chan MAVLink channel to send the message
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| 291 | * @param struct The MAVLink struct to serialize
|
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| 292 | */
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| 293 | static inline void mavlink_msg_sys_status_send_struct(mavlink_channel_t chan, const mavlink_sys_status_t* sys_status)
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| 294 | {
|
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| 295 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 296 | mavlink_msg_sys_status_send(chan, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
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| 297 | #else
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| 298 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)sys_status, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
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| 299 | #endif
|
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| 300 | }
|
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| 301 |
|
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| 302 | #if MAVLINK_MSG_ID_SYS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
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| 303 | /*
|
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| 304 | This varient of _send() can be used to save stack space by re-using
|
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| 305 | memory from the receive buffer. The caller provides a
|
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| 306 | mavlink_message_t which is the size of a full mavlink message. This
|
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| 307 | is usually the receive buffer for the channel, and allows a reply to an
|
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| 308 | incoming message with minimum stack space usage.
|
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| 309 | */
|
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| 310 | static inline void mavlink_msg_sys_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
|
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| 311 | {
|
---|
| 312 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 313 | char *buf = (char *)msgbuf;
|
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| 314 | _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
|
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| 315 | _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
|
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| 316 | _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
|
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| 317 | _mav_put_uint16_t(buf, 12, load);
|
---|
| 318 | _mav_put_uint16_t(buf, 14, voltage_battery);
|
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| 319 | _mav_put_int16_t(buf, 16, current_battery);
|
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| 320 | _mav_put_uint16_t(buf, 18, drop_rate_comm);
|
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| 321 | _mav_put_uint16_t(buf, 20, errors_comm);
|
---|
| 322 | _mav_put_uint16_t(buf, 22, errors_count1);
|
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| 323 | _mav_put_uint16_t(buf, 24, errors_count2);
|
---|
| 324 | _mav_put_uint16_t(buf, 26, errors_count3);
|
---|
| 325 | _mav_put_uint16_t(buf, 28, errors_count4);
|
---|
| 326 | _mav_put_int8_t(buf, 30, battery_remaining);
|
---|
| 327 |
|
---|
| 328 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
|
---|
| 329 | #else
|
---|
| 330 | mavlink_sys_status_t *packet = (mavlink_sys_status_t *)msgbuf;
|
---|
| 331 | packet->onboard_control_sensors_present = onboard_control_sensors_present;
|
---|
| 332 | packet->onboard_control_sensors_enabled = onboard_control_sensors_enabled;
|
---|
| 333 | packet->onboard_control_sensors_health = onboard_control_sensors_health;
|
---|
| 334 | packet->load = load;
|
---|
| 335 | packet->voltage_battery = voltage_battery;
|
---|
| 336 | packet->current_battery = current_battery;
|
---|
| 337 | packet->drop_rate_comm = drop_rate_comm;
|
---|
| 338 | packet->errors_comm = errors_comm;
|
---|
| 339 | packet->errors_count1 = errors_count1;
|
---|
| 340 | packet->errors_count2 = errors_count2;
|
---|
| 341 | packet->errors_count3 = errors_count3;
|
---|
| 342 | packet->errors_count4 = errors_count4;
|
---|
| 343 | packet->battery_remaining = battery_remaining;
|
---|
| 344 |
|
---|
| 345 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
|
---|
| 346 | #endif
|
---|
| 347 | }
|
---|
| 348 | #endif
|
---|
| 349 |
|
---|
| 350 | #endif
|
---|
| 351 |
|
---|
| 352 | // MESSAGE SYS_STATUS UNPACKING
|
---|
| 353 |
|
---|
| 354 |
|
---|
| 355 | /**
|
---|
| 356 | * @brief Get field onboard_control_sensors_present from sys_status message
|
---|
| 357 | *
|
---|
| 358 | * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
---|
| 359 | */
|
---|
| 360 | static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
|
---|
| 361 | {
|
---|
| 362 | return _MAV_RETURN_uint32_t(msg, 0);
|
---|
| 363 | }
|
---|
| 364 |
|
---|
| 365 | /**
|
---|
| 366 | * @brief Get field onboard_control_sensors_enabled from sys_status message
|
---|
| 367 | *
|
---|
| 368 | * @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
---|
| 369 | */
|
---|
| 370 | static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
|
---|
| 371 | {
|
---|
| 372 | return _MAV_RETURN_uint32_t(msg, 4);
|
---|
| 373 | }
|
---|
| 374 |
|
---|
| 375 | /**
|
---|
| 376 | * @brief Get field onboard_control_sensors_health from sys_status message
|
---|
| 377 | *
|
---|
| 378 | * @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
|
---|
| 379 | */
|
---|
| 380 | static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
|
---|
| 381 | {
|
---|
| 382 | return _MAV_RETURN_uint32_t(msg, 8);
|
---|
| 383 | }
|
---|
| 384 |
|
---|
| 385 | /**
|
---|
| 386 | * @brief Get field load from sys_status message
|
---|
| 387 | *
|
---|
| 388 | * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
---|
| 389 | */
|
---|
| 390 | static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
|
---|
| 391 | {
|
---|
| 392 | return _MAV_RETURN_uint16_t(msg, 12);
|
---|
| 393 | }
|
---|
| 394 |
|
---|
| 395 | /**
|
---|
| 396 | * @brief Get field voltage_battery from sys_status message
|
---|
| 397 | *
|
---|
| 398 | * @return Battery voltage, in millivolts (1 = 1 millivolt)
|
---|
| 399 | */
|
---|
| 400 | static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
|
---|
| 401 | {
|
---|
| 402 | return _MAV_RETURN_uint16_t(msg, 14);
|
---|
| 403 | }
|
---|
| 404 |
|
---|
| 405 | /**
|
---|
| 406 | * @brief Get field current_battery from sys_status message
|
---|
| 407 | *
|
---|
| 408 | * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
---|
| 409 | */
|
---|
| 410 | static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
|
---|
| 411 | {
|
---|
| 412 | return _MAV_RETURN_int16_t(msg, 16);
|
---|
| 413 | }
|
---|
| 414 |
|
---|
| 415 | /**
|
---|
| 416 | * @brief Get field battery_remaining from sys_status message
|
---|
| 417 | *
|
---|
| 418 | * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
---|
| 419 | */
|
---|
| 420 | static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
|
---|
| 421 | {
|
---|
| 422 | return _MAV_RETURN_int8_t(msg, 30);
|
---|
| 423 | }
|
---|
| 424 |
|
---|
| 425 | /**
|
---|
| 426 | * @brief Get field drop_rate_comm from sys_status message
|
---|
| 427 | *
|
---|
| 428 | * @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
---|
| 429 | */
|
---|
| 430 | static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
|
---|
| 431 | {
|
---|
| 432 | return _MAV_RETURN_uint16_t(msg, 18);
|
---|
| 433 | }
|
---|
| 434 |
|
---|
| 435 | /**
|
---|
| 436 | * @brief Get field errors_comm from sys_status message
|
---|
| 437 | *
|
---|
| 438 | * @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
---|
| 439 | */
|
---|
| 440 | static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
|
---|
| 441 | {
|
---|
| 442 | return _MAV_RETURN_uint16_t(msg, 20);
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 | /**
|
---|
| 446 | * @brief Get field errors_count1 from sys_status message
|
---|
| 447 | *
|
---|
| 448 | * @return Autopilot-specific errors
|
---|
| 449 | */
|
---|
| 450 | static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
|
---|
| 451 | {
|
---|
| 452 | return _MAV_RETURN_uint16_t(msg, 22);
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | /**
|
---|
| 456 | * @brief Get field errors_count2 from sys_status message
|
---|
| 457 | *
|
---|
| 458 | * @return Autopilot-specific errors
|
---|
| 459 | */
|
---|
| 460 | static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
|
---|
| 461 | {
|
---|
| 462 | return _MAV_RETURN_uint16_t(msg, 24);
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | /**
|
---|
| 466 | * @brief Get field errors_count3 from sys_status message
|
---|
| 467 | *
|
---|
| 468 | * @return Autopilot-specific errors
|
---|
| 469 | */
|
---|
| 470 | static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
|
---|
| 471 | {
|
---|
| 472 | return _MAV_RETURN_uint16_t(msg, 26);
|
---|
| 473 | }
|
---|
| 474 |
|
---|
| 475 | /**
|
---|
| 476 | * @brief Get field errors_count4 from sys_status message
|
---|
| 477 | *
|
---|
| 478 | * @return Autopilot-specific errors
|
---|
| 479 | */
|
---|
| 480 | static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
|
---|
| 481 | {
|
---|
| 482 | return _MAV_RETURN_uint16_t(msg, 28);
|
---|
| 483 | }
|
---|
| 484 |
|
---|
| 485 | /**
|
---|
| 486 | * @brief Decode a sys_status message into a struct
|
---|
| 487 | *
|
---|
| 488 | * @param msg The message to decode
|
---|
| 489 | * @param sys_status C-struct to decode the message contents into
|
---|
| 490 | */
|
---|
| 491 | static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
|
---|
| 492 | {
|
---|
| 493 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 494 | sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
|
---|
| 495 | sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
|
---|
| 496 | sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
|
---|
| 497 | sys_status->load = mavlink_msg_sys_status_get_load(msg);
|
---|
| 498 | sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
|
---|
| 499 | sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
|
---|
| 500 | sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
|
---|
| 501 | sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
|
---|
| 502 | sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
|
---|
| 503 | sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
|
---|
| 504 | sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
|
---|
| 505 | sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
|
---|
| 506 | sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
|
---|
| 507 | #else
|
---|
| 508 | uint8_t len = msg->len < MAVLINK_MSG_ID_SYS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_SYS_STATUS_LEN;
|
---|
| 509 | memset(sys_status, 0, MAVLINK_MSG_ID_SYS_STATUS_LEN);
|
---|
| 510 | memcpy(sys_status, _MAV_PAYLOAD(msg), len);
|
---|
| 511 | #endif
|
---|
| 512 | }
|
---|