lib/main/MAVLink/common/mavlink_msg_sys_status.h

   1 #pragma once
   2 // MESSAGE SYS_STATUS PACKING
   3
   4 #define MAVLINK_MSG_ID_SYS_STATUS 1
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_sys_status_t {
   8  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*/
   9  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*/
  10  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*/
  11  uint16_t load; /*< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000*/
  12  uint16_t voltage_battery; /*< Battery voltage, in millivolts (1 = 1 millivolt)*/
  13  int16_t current_battery; /*< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current*/
  14  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)*/
  15  uint16_t errors_comm; /*< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)*/
  16  uint16_t errors_count1; /*< Autopilot-specific errors*/
  17  uint16_t errors_count2; /*< Autopilot-specific errors*/
  18  uint16_t errors_count3; /*< Autopilot-specific errors*/
  19  uint16_t errors_count4; /*< Autopilot-specific errors*/
  20  int8_t battery_remaining; /*< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery*/
  21 }) mavlink_sys_status_t;
  22
  23 #define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
  24 #define MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN 31
  25 #define MAVLINK_MSG_ID_1_LEN 31
  26 #define MAVLINK_MSG_ID_1_MIN_LEN 31
  27
  28 #define MAVLINK_MSG_ID_SYS_STATUS_CRC 124
  29 #define MAVLINK_MSG_ID_1_CRC 124
  30
  31
  32
  33 #if MAVLINK_COMMAND_24BIT
  34 #define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
  35     1, \
  36     "SYS_STATUS", \
  37     13, \
  38     {  { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
  39          { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
  40          { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
  41          { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
  42          { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
  43          { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
  44          { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
  45          { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
  46          { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
  47          { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
  48          { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
  49          { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
  50          { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
  51          } \
  52 }
  53 #else
  54 #define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
  55     "SYS_STATUS", \
  56     13, \
  57     {  { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
  58          { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
  59          { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
  60          { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
  61          { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
  62          { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
  63          { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
  64          { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
  65          { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
  66          { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
  67          { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
  68          { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
  69          { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
  70          } \
  71 }
  72 #endif
  73
  74 /**
  75  * @brief Pack a sys_status message
  76  * @param system_id ID of this system
  77  * @param component_id ID of this component (e.g. 200 for IMU)
  78  * @param msg The MAVLink message to compress the data into
  79  *
  80  * @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
  81  * @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
  82  * @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
  83  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
  84  * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
  85  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
  86  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
  87  * @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)
  88  * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
  89  * @param errors_count1 Autopilot-specific errors
  90  * @param errors_count2 Autopilot-specific errors
  91  * @param errors_count3 Autopilot-specific errors
  92  * @param errors_count4 Autopilot-specific errors
  93  * @return length of the message in bytes (excluding serial stream start sign)
  94  */
  95 static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  96                                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)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
 100     _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
 101     _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
 102     _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
 103     _mav_put_uint16_t(buf, 12, load);
 104     _mav_put_uint16_t(buf, 14, voltage_battery);
 105     _mav_put_int16_t(buf, 16, current_battery);
 106     _mav_put_uint16_t(buf, 18, drop_rate_comm);
 107     _mav_put_uint16_t(buf, 20, errors_comm);
 108     _mav_put_uint16_t(buf, 22, errors_count1);
 109     _mav_put_uint16_t(buf, 24, errors_count2);
 110     _mav_put_uint16_t(buf, 26, errors_count3);
 111     _mav_put_uint16_t(buf, 28, errors_count4);
 112     _mav_put_int8_t(buf, 30, battery_remaining);
 113
 114         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
 115 #else
 116     mavlink_sys_status_t packet;
 117     packet.onboard_control_sensors_present = onboard_control_sensors_present;
 118     packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
 119     packet.onboard_control_sensors_health = onboard_control_sensors_health;
 120     packet.load = load;
 121     packet.voltage_battery = voltage_battery;
 122     packet.current_battery = current_battery;
 123     packet.drop_rate_comm = drop_rate_comm;
 124     packet.errors_comm = errors_comm;
 125     packet.errors_count1 = errors_count1;
 126     packet.errors_count2 = errors_count2;
 127     packet.errors_count3 = errors_count3;
 128     packet.errors_count4 = errors_count4;
 129     packet.battery_remaining = battery_remaining;
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
 132 #endif
 133
 134     msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
 135     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);
 136 }
 137
 138 /**
 139  * @brief Pack a sys_status message on a channel
 140  * @param system_id ID of this system
 141  * @param component_id ID of this component (e.g. 200 for IMU)
 142  * @param chan The MAVLink channel this message will be sent over
 143  * @param msg The MAVLink message to compress the data into
 144  * @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
 145  * @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
 146  * @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
 147  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 148  * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
 149  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 150  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
 151  * @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)
 152  * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
 153  * @param errors_count1 Autopilot-specific errors
 154  * @param errors_count2 Autopilot-specific errors
 155  * @param errors_count3 Autopilot-specific errors
 156  * @param errors_count4 Autopilot-specific errors
 157  * @return length of the message in bytes (excluding serial stream start sign)
 158  */
 159 static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 160                                mavlink_message_t* msg,
 161                                    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)
 162 {
 163 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 164     char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
 165     _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
 166     _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
 167     _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
 168     _mav_put_uint16_t(buf, 12, load);
 169     _mav_put_uint16_t(buf, 14, voltage_battery);
 170     _mav_put_int16_t(buf, 16, current_battery);
 171     _mav_put_uint16_t(buf, 18, drop_rate_comm);
 172     _mav_put_uint16_t(buf, 20, errors_comm);
 173     _mav_put_uint16_t(buf, 22, errors_count1);
 174     _mav_put_uint16_t(buf, 24, errors_count2);
 175     _mav_put_uint16_t(buf, 26, errors_count3);
 176     _mav_put_uint16_t(buf, 28, errors_count4);
 177     _mav_put_int8_t(buf, 30, battery_remaining);
 178
 179         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
 180 #else
 181     mavlink_sys_status_t packet;
 182     packet.onboard_control_sensors_present = onboard_control_sensors_present;
 183     packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
 184     packet.onboard_control_sensors_health = onboard_control_sensors_health;
 185     packet.load = load;
 186     packet.voltage_battery = voltage_battery;
 187     packet.current_battery = current_battery;
 188     packet.drop_rate_comm = drop_rate_comm;
 189     packet.errors_comm = errors_comm;
 190     packet.errors_count1 = errors_count1;
 191     packet.errors_count2 = errors_count2;
 192     packet.errors_count3 = errors_count3;
 193     packet.errors_count4 = errors_count4;
 194     packet.battery_remaining = battery_remaining;
 195
 196         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
 197 #endif
 198
 199     msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
 200     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);
 201 }
 202
 203 /**
 204  * @brief Encode a sys_status struct
 205  *
 206  * @param system_id ID of this system
 207  * @param component_id ID of this component (e.g. 200 for IMU)
 208  * @param msg The MAVLink message to compress the data into
 209  * @param sys_status C-struct to read the message contents from
 210  */
 211 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)
 212 {
 213     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);
 214 }
 215
 216 /**
 217  * @brief Encode a sys_status struct on a channel
 218  *
 219  * @param system_id ID of this system
 220  * @param component_id ID of this component (e.g. 200 for IMU)
 221  * @param chan The MAVLink channel this message will be sent over
 222  * @param msg The MAVLink message to compress the data into
 223  * @param sys_status C-struct to read the message contents from
 224  */
 225 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)
 226 {
 227     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);
 228 }
 229
 230 /**
 231  * @brief Send a sys_status message
 232  * @param chan MAVLink channel to send the message
 233  *
 234  * @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
 235  * @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
 236  * @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
 237  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 238  * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
 239  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 240  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
 241  * @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)
 242  * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
 243  * @param errors_count1 Autopilot-specific errors
 244  * @param errors_count2 Autopilot-specific errors
 245  * @param errors_count3 Autopilot-specific errors
 246  * @param errors_count4 Autopilot-specific errors
 247  */
 248 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 249
 250 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)
 251 {
 252 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 253     char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
 254     _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
 255     _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
 256     _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
 257     _mav_put_uint16_t(buf, 12, load);
 258     _mav_put_uint16_t(buf, 14, voltage_battery);
 259     _mav_put_int16_t(buf, 16, current_battery);
 260     _mav_put_uint16_t(buf, 18, drop_rate_comm);
 261     _mav_put_uint16_t(buf, 20, errors_comm);
 262     _mav_put_uint16_t(buf, 22, errors_count1);
 263     _mav_put_uint16_t(buf, 24, errors_count2);
 264     _mav_put_uint16_t(buf, 26, errors_count3);
 265     _mav_put_uint16_t(buf, 28, errors_count4);
 266     _mav_put_int8_t(buf, 30, battery_remaining);
 267
 268     _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);
 269 #else
 270     mavlink_sys_status_t packet;
 271     packet.onboard_control_sensors_present = onboard_control_sensors_present;
 272     packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
 273     packet.onboard_control_sensors_health = onboard_control_sensors_health;
 274     packet.load = load;
 275     packet.voltage_battery = voltage_battery;
 276     packet.current_battery = current_battery;
 277     packet.drop_rate_comm = drop_rate_comm;
 278     packet.errors_comm = errors_comm;
 279     packet.errors_count1 = errors_count1;
 280     packet.errors_count2 = errors_count2;
 281     packet.errors_count3 = errors_count3;
 282     packet.errors_count4 = errors_count4;
 283     packet.battery_remaining = battery_remaining;
 284
 285     _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);
 286 #endif
 287 }
 288
 289 /**
 290  * @brief Send a sys_status message
 291  * @param chan MAVLink channel to send the message
 292  * @param struct The MAVLink struct to serialize
 293  */
 294 static inline void mavlink_msg_sys_status_send_struct(mavlink_channel_t chan, const mavlink_sys_status_t* sys_status)
 295 {
 296 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 297     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);
 298 #else
 299     _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);
 300 #endif
 301 }
 302
 303 #if MAVLINK_MSG_ID_SYS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 304 /*
 305   This varient of _send() can be used to save stack space by re-using
 306   memory from the receive buffer.  The caller provides a
 307   mavlink_message_t which is the size of a full mavlink message. This
 308   is usually the receive buffer for the channel, and allows a reply to an
 309   incoming message with minimum stack space usage.
 310  */
 311 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)
 312 {
 313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 314     char *buf = (char *)msgbuf;
 315     _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
 316     _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
 317     _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
 318     _mav_put_uint16_t(buf, 12, load);
 319     _mav_put_uint16_t(buf, 14, voltage_battery);
 320     _mav_put_int16_t(buf, 16, current_battery);
 321     _mav_put_uint16_t(buf, 18, drop_rate_comm);
 322     _mav_put_uint16_t(buf, 20, errors_comm);
 323     _mav_put_uint16_t(buf, 22, errors_count1);
 324     _mav_put_uint16_t(buf, 24, errors_count2);
 325     _mav_put_uint16_t(buf, 26, errors_count3);
 326     _mav_put_uint16_t(buf, 28, errors_count4);
 327     _mav_put_int8_t(buf, 30, battery_remaining);
 328
 329     _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);
 330 #else
 331     mavlink_sys_status_t *packet = (mavlink_sys_status_t *)msgbuf;
 332     packet->onboard_control_sensors_present = onboard_control_sensors_present;
 333     packet->onboard_control_sensors_enabled = onboard_control_sensors_enabled;
 334     packet->onboard_control_sensors_health = onboard_control_sensors_health;
 335     packet->load = load;
 336     packet->voltage_battery = voltage_battery;
 337     packet->current_battery = current_battery;
 338     packet->drop_rate_comm = drop_rate_comm;
 339     packet->errors_comm = errors_comm;
 340     packet->errors_count1 = errors_count1;
 341     packet->errors_count2 = errors_count2;
 342     packet->errors_count3 = errors_count3;
 343     packet->errors_count4 = errors_count4;
 344     packet->battery_remaining = battery_remaining;
 345
 346     _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);
 347 #endif
 348 }
 349 #endif
 350
 351 #endif
 352
 353 // MESSAGE SYS_STATUS UNPACKING
 354
 355
 356 /**
 357  * @brief Get field onboard_control_sensors_present from sys_status message
 358  *
 359  * @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
 360  */
 361 static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_uint32_t(msg,  0);
 364 }
 365
 366 /**
 367  * @brief Get field onboard_control_sensors_enabled from sys_status message
 368  *
 369  * @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
 370  */
 371 static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
 372 {
 373     return _MAV_RETURN_uint32_t(msg,  4);
 374 }
 375
 376 /**
 377  * @brief Get field onboard_control_sensors_health from sys_status message
 378  *
 379  * @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
 380  */
 381 static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
 382 {
 383     return _MAV_RETURN_uint32_t(msg,  8);
 384 }
 385
 386 /**
 387  * @brief Get field load from sys_status message
 388  *
 389  * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
 390  */
 391 static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
 392 {
 393     return _MAV_RETURN_uint16_t(msg,  12);
 394 }
 395
 396 /**
 397  * @brief Get field voltage_battery from sys_status message
 398  *
 399  * @return Battery voltage, in millivolts (1 = 1 millivolt)
 400  */
 401 static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
 402 {
 403     return _MAV_RETURN_uint16_t(msg,  14);
 404 }
 405
 406 /**
 407  * @brief Get field current_battery from sys_status message
 408  *
 409  * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 410  */
 411 static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
 412 {
 413     return _MAV_RETURN_int16_t(msg,  16);
 414 }
 415
 416 /**
 417  * @brief Get field battery_remaining from sys_status message
 418  *
 419  * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
 420  */
 421 static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
 422 {
 423     return _MAV_RETURN_int8_t(msg,  30);
 424 }
 425
 426 /**
 427  * @brief Get field drop_rate_comm from sys_status message
 428  *
 429  * @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)
 430  */
 431 static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
 432 {
 433     return _MAV_RETURN_uint16_t(msg,  18);
 434 }
 435
 436 /**
 437  * @brief Get field errors_comm from sys_status message
 438  *
 439  * @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
 440  */
 441 static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
 442 {
 443     return _MAV_RETURN_uint16_t(msg,  20);
 444 }
 445
 446 /**
 447  * @brief Get field errors_count1 from sys_status message
 448  *
 449  * @return Autopilot-specific errors
 450  */
 451 static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
 452 {
 453     return _MAV_RETURN_uint16_t(msg,  22);
 454 }
 455
 456 /**
 457  * @brief Get field errors_count2 from sys_status message
 458  *
 459  * @return Autopilot-specific errors
 460  */
 461 static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
 462 {
 463     return _MAV_RETURN_uint16_t(msg,  24);
 464 }
 465
 466 /**
 467  * @brief Get field errors_count3 from sys_status message
 468  *
 469  * @return Autopilot-specific errors
 470  */
 471 static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
 472 {
 473     return _MAV_RETURN_uint16_t(msg,  26);
 474 }
 475
 476 /**
 477  * @brief Get field errors_count4 from sys_status message
 478  *
 479  * @return Autopilot-specific errors
 480  */
 481 static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
 482 {
 483     return _MAV_RETURN_uint16_t(msg,  28);
 484 }
 485
 486 /**
 487  * @brief Decode a sys_status message into a struct
 488  *
 489  * @param msg The message to decode
 490  * @param sys_status C-struct to decode the message contents into
 491  */
 492 static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
 493 {
 494 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 495     sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
 496     sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
 497     sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
 498     sys_status->load = mavlink_msg_sys_status_get_load(msg);
 499     sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
 500     sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
 501     sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
 502     sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
 503     sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
 504     sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
 505     sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
 506     sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
 507     sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
 508 #else
 509         uint8_t len = msg->len < MAVLINK_MSG_ID_SYS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_SYS_STATUS_LEN;
 510         memset(sys_status, 0, MAVLINK_MSG_ID_SYS_STATUS_LEN);
 511     memcpy(sys_status, _MAV_PAYLOAD(msg), len);
 512 #endif
 513 }