mavlink_msg_heartbeat.h 9.37 KB
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// MESSAGE HEARTBEAT PACKING

#define MAVLINK_MSG_ID_HEARTBEAT 0

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typedef struct __mavlink_heartbeat_t
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{
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 uint32_t custom_mode; ///< Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
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 uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 uint8_t autopilot; ///< Autopilot type / class. defined in MAV_CLASS ENUM
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 uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
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 uint8_t system_status; ///< System status flag, see MAV_STATUS ENUM
 uint8_t mavlink_version; ///< MAVLink version
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} mavlink_heartbeat_t;

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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
#define MAVLINK_MSG_ID_0_LEN 9
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
	"HEARTBEAT", \
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	6, \
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	{  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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         } \
}


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/**
 * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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 * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM
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 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
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 * @param system_status System status flag, see MAV_STATUS ENUM
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 * @return length of the message in bytes (excluding serial stream start sign)
 */
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static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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						       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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	char buf[9];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, type);
	_mav_put_uint8_t(buf, 5, autopilot);
	_mav_put_uint8_t(buf, 6, base_mode);
	_mav_put_uint8_t(buf, 7, system_status);
	_mav_put_uint8_t(buf, 8, 3);

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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
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#else
	mavlink_heartbeat_t packet;
	packet.custom_mode = custom_mode;
	packet.type = type;
	packet.autopilot = autopilot;
	packet.base_mode = base_mode;
	packet.system_status = system_status;
	packet.mavlink_version = 3;

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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
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#endif
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	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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	return mavlink_finalize_message(msg, system_id, component_id, 9, 50);
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}

/**
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 * @brief Pack a heartbeat message on a channel
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 * @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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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 * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM
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 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
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 * @param system_status System status flag, see MAV_STATUS ENUM
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 * @return length of the message in bytes (excluding serial stream start sign)
 */
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static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
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						           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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	char buf[9];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, type);
	_mav_put_uint8_t(buf, 5, autopilot);
	_mav_put_uint8_t(buf, 6, base_mode);
	_mav_put_uint8_t(buf, 7, system_status);
	_mav_put_uint8_t(buf, 8, 3);

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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
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#else
	mavlink_heartbeat_t packet;
	packet.custom_mode = custom_mode;
	packet.type = type;
	packet.autopilot = autopilot;
	packet.base_mode = base_mode;
	packet.system_status = system_status;
	packet.mavlink_version = 3;

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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
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#endif
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	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50);
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}

/**
 * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
{
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	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}

/**
 * @brief Send a heartbeat message
 * @param chan MAVLink channel to send the message
 *
 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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 * @param autopilot Autopilot type / class. defined in MAV_CLASS ENUM
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 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
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 * @param system_status System status flag, see MAV_STATUS ENUM
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 */
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

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static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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	char buf[9];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, type);
	_mav_put_uint8_t(buf, 5, autopilot);
	_mav_put_uint8_t(buf, 6, base_mode);
	_mav_put_uint8_t(buf, 7, system_status);
	_mav_put_uint8_t(buf, 8, 3);

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50);
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#else
	mavlink_heartbeat_t packet;
	packet.custom_mode = custom_mode;
	packet.type = type;
	packet.autopilot = autopilot;
	packet.base_mode = base_mode;
	packet.system_status = system_status;
	packet.mavlink_version = 3;

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	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50);
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#endif
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}

#endif
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// MESSAGE HEARTBEAT UNPACKING

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/**
 * @brief Get field type from heartbeat message
 *
 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 */
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
{
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	return _MAV_RETURN_uint8_t(msg,  4);
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}

/**
 * @brief Get field autopilot from heartbeat message
 *
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 * @return Autopilot type / class. defined in MAV_CLASS ENUM
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 */
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
{
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	return _MAV_RETURN_uint8_t(msg,  5);
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}

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/**
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 * @brief Get field base_mode from heartbeat message
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 *
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 * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
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 */
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static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
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{
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	return _MAV_RETURN_uint8_t(msg,  6);
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}

/**
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 * @brief Get field custom_mode from heartbeat message
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 *
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 * @return Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific.
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 */
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static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
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{
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	return _MAV_RETURN_uint32_t(msg,  0);
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}

/**
 * @brief Get field system_status from heartbeat message
 *
 * @return System status flag, see MAV_STATUS ENUM
 */
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
{
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	return _MAV_RETURN_uint8_t(msg,  7);
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}

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/**
 * @brief Get field mavlink_version from heartbeat message
 *
 * @return MAVLink version
 */
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
{
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	return _MAV_RETURN_uint8_t(msg,  8);
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}

/**
 * @brief Decode a heartbeat message into a struct
 *
 * @param msg The message to decode
 * @param heartbeat C-struct to decode the message contents into
 */
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
{
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#if MAVLINK_NEED_BYTE_SWAP
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	heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
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	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
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	heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
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	heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
#else
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	memcpy(heartbeat, _MAV_PAYLOAD(msg), 9);
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#endif
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}