mavlink_msg_sys_status.h 11.8 KB
Newer Older
James Goppert's avatar
James Goppert committed
1 2 3
// MESSAGE SYS_STATUS PACKING

#define MAVLINK_MSG_ID_SYS_STATUS 34
lm's avatar
lm committed
4 5
#define MAVLINK_MSG_ID_SYS_STATUS_LEN 11
#define MAVLINK_MSG_34_LEN 11
James Goppert's avatar
James Goppert committed
6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35

typedef struct __mavlink_sys_status_t 
{
	uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
	uint8_t status; ///< System status flag, see MAV_STATUS ENUM
	uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
	uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
	uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)

} mavlink_sys_status_t;

/**
 * @brief Pack a sys_status message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
 * @param status System status flag, see MAV_STATUS ENUM
 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
 * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
 * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
lm's avatar
lm committed
36
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
James Goppert's avatar
James Goppert committed
37 38
	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;

lm's avatar
lm committed
39 40 41 42 43 44 45
	p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM
	p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM
	p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt)
	p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000)
	p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV)
James Goppert's avatar
James Goppert committed
46

lm's avatar
lm committed
47
	return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN);
James Goppert's avatar
James Goppert committed
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
}

/**
 * @brief Pack a sys_status message
 * @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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
 * @param status System status flag, see MAV_STATUS ENUM
 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
 * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
 * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
lm's avatar
lm committed
67
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
James Goppert's avatar
James Goppert committed
68 69
	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;

lm's avatar
lm committed
70 71 72 73 74 75 76
	p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM
	p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM
	p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt)
	p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000)
	p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV)
James Goppert's avatar
James Goppert committed
77

lm's avatar
lm committed
78
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN);
James Goppert's avatar
James Goppert committed
79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109
}

/**
 * @brief Encode a sys_status struct into a 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 sys_status C-struct to read the message contents from
 */
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)
{
	return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop);
}

/**
 * @brief Send a sys_status message
 * @param chan MAVLink channel to send the message
 *
 * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
 * @param status System status flag, see MAV_STATUS ENUM
 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
 * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
 * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
	mavlink_message_t msg;
lm's avatar
lm committed
110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169
	uint16_t checksum;
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg.payload[0];

	p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM
	p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM
	p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt)
	p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000)
	p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV)

	msg.STX = MAVLINK_STX;
	msg.len = MAVLINK_MSG_ID_SYS_STATUS_LEN;
	msg.msgid = MAVLINK_MSG_ID_SYS_STATUS;
	msg.sysid = mavlink_system.sysid;
	msg.compid = mavlink_system.compid;
	msg.seq = mavlink_get_channel_status(chan)->current_tx_seq;
	mavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1;
	checksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN);
	msg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
	msg.ck_b = (uint8_t)(checksum >> 8); ///< High byte

	mavlink_send_msg(chan, &msg);
}

#endif

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL
static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
{
	mavlink_header_t hdr;
	mavlink_sys_status_t payload;
	uint16_t checksum;
	mavlink_sys_status_t *p = &payload;

	p->mode = mode; // uint8_t:System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
	p->nav_mode = nav_mode; // uint8_t:Navigation mode, see MAV_NAV_MODE ENUM
	p->status = status; // uint8_t:System status flag, see MAV_STATUS ENUM
	p->load = load; // uint16_t:Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
	p->vbat = vbat; // uint16_t:Battery voltage, in millivolts (1 = 1 millivolt)
	p->battery_remaining = battery_remaining; // uint16_t:Remaining battery energy: (0%: 0, 100%: 1000)
	p->packet_drop = packet_drop; // uint16_t:Dropped packets (packets that were corrupted on reception on the MAV)

	hdr.STX = MAVLINK_STX;
	hdr.len = MAVLINK_MSG_ID_SYS_STATUS_LEN;
	hdr.msgid = MAVLINK_MSG_ID_SYS_STATUS;
	hdr.sysid = mavlink_system.sysid;
	hdr.compid = mavlink_system.compid;
	hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;
	mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
	mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );

	crc_init(&checksum);
	checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
	checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
	hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
	hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte

	mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
	mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
James Goppert's avatar
James Goppert committed
170 171 172 173 174 175 176 177 178 179 180 181
}

#endif
// MESSAGE SYS_STATUS UNPACKING

/**
 * @brief Get field mode from sys_status message
 *
 * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
 */
static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
{
lm's avatar
lm committed
182 183
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint8_t)(p->mode);
James Goppert's avatar
James Goppert committed
184 185 186 187 188 189 190 191 192
}

/**
 * @brief Get field nav_mode from sys_status message
 *
 * @return Navigation mode, see MAV_NAV_MODE ENUM
 */
static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
{
lm's avatar
lm committed
193 194
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint8_t)(p->nav_mode);
James Goppert's avatar
James Goppert committed
195 196 197 198 199 200 201 202 203
}

/**
 * @brief Get field status from sys_status message
 *
 * @return System status flag, see MAV_STATUS ENUM
 */
static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
{
lm's avatar
lm committed
204 205
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint8_t)(p->status);
James Goppert's avatar
James Goppert committed
206 207 208 209 210 211 212 213 214
}

/**
 * @brief Get field load from sys_status message
 *
 * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 */
static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
{
lm's avatar
lm committed
215 216
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint16_t)(p->load);
James Goppert's avatar
James Goppert committed
217 218 219 220 221 222 223 224 225
}

/**
 * @brief Get field vbat from sys_status message
 *
 * @return Battery voltage, in millivolts (1 = 1 millivolt)
 */
static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
{
lm's avatar
lm committed
226 227
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint16_t)(p->vbat);
James Goppert's avatar
James Goppert committed
228 229 230 231 232 233 234 235 236
}

/**
 * @brief Get field battery_remaining from sys_status message
 *
 * @return Remaining battery energy: (0%: 0, 100%: 1000)
 */
static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
{
lm's avatar
lm committed
237 238
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint16_t)(p->battery_remaining);
James Goppert's avatar
James Goppert committed
239 240 241 242 243 244 245 246 247
}

/**
 * @brief Get field packet_drop from sys_status message
 *
 * @return Dropped packets (packets that were corrupted on reception on the MAV)
 */
static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
{
lm's avatar
lm committed
248 249
	mavlink_sys_status_t *p = (mavlink_sys_status_t *)&msg->payload[0];
	return (uint16_t)(p->packet_drop);
James Goppert's avatar
James Goppert committed
250 251 252 253 254 255 256 257 258 259
}

/**
 * @brief Decode a sys_status message into a struct
 *
 * @param msg The message to decode
 * @param sys_status C-struct to decode the message contents into
 */
static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
{
lm's avatar
lm committed
260
	memcpy( sys_status, msg->payload, sizeof(mavlink_sys_status_t));
James Goppert's avatar
James Goppert committed
261
}