// MESSAGE RC_CHANNELS_RAW PACKING #define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35 #define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 17 #define MAVLINK_MSG_35_LEN 17 typedef struct __mavlink_rc_channels_raw_t { uint16_t chan1_raw; ///< RC channel 1 value, in microseconds uint16_t chan2_raw; ///< RC channel 2 value, in microseconds uint16_t chan3_raw; ///< RC channel 3 value, in microseconds uint16_t chan4_raw; ///< RC channel 4 value, in microseconds uint16_t chan5_raw; ///< RC channel 5 value, in microseconds uint16_t chan6_raw; ///< RC channel 6 value, in microseconds uint16_t chan7_raw; ///< RC channel 7 value, in microseconds uint16_t chan8_raw; ///< RC channel 8 value, in microseconds uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100% } mavlink_rc_channels_raw_t; /** * @brief Pack a rc_channels_raw 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 chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds * @param chan4_raw RC channel 4 value, in microseconds * @param chan5_raw RC channel 5 value, in microseconds * @param chan6_raw RC channel 6 value, in microseconds * @param chan7_raw RC channel 7 value, in microseconds * @param chan8_raw RC channel 8 value, in microseconds * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN); } /** * @brief Pack a rc_channels_raw 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 chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds * @param chan4_raw RC channel 4 value, in microseconds * @param chan5_raw RC channel 5 value, in microseconds * @param chan6_raw RC channel 6 value, in microseconds * @param chan7_raw RC channel 7 value, in microseconds * @param chan8_raw RC channel 8 value, in microseconds * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN); } /** * @brief Encode a rc_channels_raw 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 rc_channels_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw) { return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi); } /** * @brief Send a rc_channels_raw message * @param chan MAVLink channel to send the message * * @param chan1_raw RC channel 1 value, in microseconds * @param chan2_raw RC channel 2 value, in microseconds * @param chan3_raw RC channel 3 value, in microseconds * @param chan4_raw RC channel 4 value, in microseconds * @param chan5_raw RC channel 5 value, in microseconds * @param chan6_raw RC channel 6 value, in microseconds * @param chan7_raw RC channel 7 value, in microseconds * @param chan8_raw RC channel 8 value, in microseconds * @param rssi Receive signal strength indicator, 0: 0%, 255: 100% */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { mavlink_message_t msg; uint16_t checksum; mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg.payload[0]; p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% msg.STX = MAVLINK_STX; msg.len = MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN; msg.msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; 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_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi) { mavlink_header_t hdr; mavlink_rc_channels_raw_t payload; uint16_t checksum; mavlink_rc_channels_raw_t *p = &payload; p->chan1_raw = chan1_raw; // uint16_t:RC channel 1 value, in microseconds p->chan2_raw = chan2_raw; // uint16_t:RC channel 2 value, in microseconds p->chan3_raw = chan3_raw; // uint16_t:RC channel 3 value, in microseconds p->chan4_raw = chan4_raw; // uint16_t:RC channel 4 value, in microseconds p->chan5_raw = chan5_raw; // uint16_t:RC channel 5 value, in microseconds p->chan6_raw = chan6_raw; // uint16_t:RC channel 6 value, in microseconds p->chan7_raw = chan7_raw; // uint16_t:RC channel 7 value, in microseconds p->chan8_raw = chan8_raw; // uint16_t:RC channel 8 value, in microseconds p->rssi = rssi; // uint8_t:Receive signal strength indicator, 0: 0%, 255: 100% hdr.STX = MAVLINK_STX; hdr.len = MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN; hdr.msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW; 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); } #endif // MESSAGE RC_CHANNELS_RAW UNPACKING /** * @brief Get field chan1_raw from rc_channels_raw message * * @return RC channel 1 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan1_raw); } /** * @brief Get field chan2_raw from rc_channels_raw message * * @return RC channel 2 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan2_raw); } /** * @brief Get field chan3_raw from rc_channels_raw message * * @return RC channel 3 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan3_raw); } /** * @brief Get field chan4_raw from rc_channels_raw message * * @return RC channel 4 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan4_raw); } /** * @brief Get field chan5_raw from rc_channels_raw message * * @return RC channel 5 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan5_raw); } /** * @brief Get field chan6_raw from rc_channels_raw message * * @return RC channel 6 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan6_raw); } /** * @brief Get field chan7_raw from rc_channels_raw message * * @return RC channel 7 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan7_raw); } /** * @brief Get field chan8_raw from rc_channels_raw message * * @return RC channel 8 value, in microseconds */ static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint16_t)(p->chan8_raw); } /** * @brief Get field rssi from rc_channels_raw message * * @return Receive signal strength indicator, 0: 0%, 255: 100% */ static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg) { mavlink_rc_channels_raw_t *p = (mavlink_rc_channels_raw_t *)&msg->payload[0]; return (uint8_t)(p->rssi); } /** * @brief Decode a rc_channels_raw message into a struct * * @param msg The message to decode * @param rc_channels_raw C-struct to decode the message contents into */ static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw) { memcpy( rc_channels_raw, msg->payload, sizeof(mavlink_rc_channels_raw_t)); }