flight/libraries/mavlink/v1.0/common/mavlink_msg_heartbeat.h

   1 // MESSAGE HEARTBEAT PACKING
   2
   3 #define MAVLINK_MSG_ID_HEARTBEAT 0
   4
   5 typedef struct __mavlink_heartbeat_t {
   6     uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags.
   7     uint8_t  type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   8     uint8_t  autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   9     uint8_t  base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
  10     uint8_t  system_status; ///< System status flag, see MAV_STATE ENUM
  11     uint8_t  mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
  12 } mavlink_heartbeat_t;
  13
  14 #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
  15 #define MAVLINK_MSG_ID_0_LEN         9
  16
  17
  18 #define MAVLINK_MESSAGE_INFO_HEARTBEAT \
  19     { \
  20         "HEARTBEAT", \
  21         6, \
  22         { \
  23             { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
  24             { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
  25             { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
  26             { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
  27             { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
  28             { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
  29         } \
  30     }
  31
  32
  33 /**
  34  * @brief Pack a heartbeat message
  35  * @param system_id ID of this system
  36  * @param component_id ID of this component (e.g. 200 for IMU)
  37  * @param msg The MAVLink message to compress the data into
  38  *
  39  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
  40  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
  41  * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
  42  * @param custom_mode A bitfield for use for autopilot-specific flags.
  43  * @param system_status System status flag, see MAV_STATE ENUM
  44  * @return length of the message in bytes (excluding serial stream start sign)
  45  */
  46 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  47                                                   uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
  48 {
  49 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  50     char buf[9];
  51     _mav_put_uint32_t(buf, 0, custom_mode);
  52     _mav_put_uint8_t(buf, 4, type);
  53     _mav_put_uint8_t(buf, 5, autopilot);
  54     _mav_put_uint8_t(buf, 6, base_mode);
  55     _mav_put_uint8_t(buf, 7, system_status);
  56     _mav_put_uint8_t(buf, 8, 3);
  57
  58     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
  59 #else
  60     mavlink_heartbeat_t packet;
  61     packet.custom_mode     = custom_mode;
  62     packet.type = type;
  63     packet.autopilot       = autopilot;
  64     packet.base_mode       = base_mode;
  65     packet.system_status   = system_status;
  66     packet.mavlink_version = 3;
  67     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
  68
  69 #endif
  70
  71     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
  72     return mavlink_finalize_message(msg, system_id, component_id, 9, 50);
  73 }
  74
  75 /**
  76  * @brief Pack a heartbeat message on a channel
  77  * @param system_id ID of this system
  78  * @param component_id ID of this component (e.g. 200 for IMU)
  79  * @param chan The MAVLink channel this message was sent over
  80  * @param msg The MAVLink message to compress the data into
  81  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
  82  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
  83  * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
  84  * @param custom_mode A bitfield for use for autopilot-specific flags.
  85  * @param system_status System status flag, see MAV_STATE ENUM
  86  * @return length of the message in bytes (excluding serial stream start sign)
  87  */
  88 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  89                                                        mavlink_message_t *msg,
  90                                                        uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
  91 {
  92 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  93     char buf[9];
  94     _mav_put_uint32_t(buf, 0, custom_mode);
  95     _mav_put_uint8_t(buf, 4, type);
  96     _mav_put_uint8_t(buf, 5, autopilot);
  97     _mav_put_uint8_t(buf, 6, base_mode);
  98     _mav_put_uint8_t(buf, 7, system_status);
  99     _mav_put_uint8_t(buf, 8, 3);
 100
 101     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
 102 #else
 103     mavlink_heartbeat_t packet;
 104     packet.custom_mode     = custom_mode;
 105     packet.type = type;
 106     packet.autopilot       = autopilot;
 107     packet.base_mode       = base_mode;
 108     packet.system_status   = system_status;
 109     packet.mavlink_version = 3;
 110
 111     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50);
 116 }
 117
 118 /**
 119  * @brief Encode a heartbeat struct into a message
 120  *
 121  * @param system_id ID of this system
 122  * @param component_id ID of this component (e.g. 200 for IMU)
 123  * @param msg The MAVLink message to compress the data into
 124  * @param heartbeat C-struct to read the message contents from
 125  */
 126 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)
 127 {
 128     return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
 129 }
 130
 131 /**
 132  * @brief Send a heartbeat message
 133  * @param chan MAVLink channel to send the message
 134  *
 135  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 136  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 137  * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 138  * @param custom_mode A bitfield for use for autopilot-specific flags.
 139  * @param system_status System status flag, see MAV_STATE ENUM
 140  */
 141 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 142
 143 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)
 144 {
 145 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 146     char buf[9];
 147     _mav_put_uint32_t(buf, 0, custom_mode);
 148     _mav_put_uint8_t(buf, 4, type);
 149     _mav_put_uint8_t(buf, 5, autopilot);
 150     _mav_put_uint8_t(buf, 6, base_mode);
 151     _mav_put_uint8_t(buf, 7, system_status);
 152     _mav_put_uint8_t(buf, 8, 3);
 153
 154     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50);
 155 #else
 156     mavlink_heartbeat_t packet;
 157     packet.custom_mode     = custom_mode;
 158     packet.type = type;
 159     packet.autopilot       = autopilot;
 160     packet.base_mode       = base_mode;
 161     packet.system_status   = system_status;
 162     packet.mavlink_version = 3;
 163
 164     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50);
 165 #endif
 166 }
 167
 168 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 169
 170 // MESSAGE HEARTBEAT UNPACKING
 171
 172
 173 /**
 174  * @brief Get field type from heartbeat message
 175  *
 176  * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 177  */
 178 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t *msg)
 179 {
 180     return _MAV_RETURN_uint8_t(msg, 4);
 181 }
 182
 183 /**
 184  * @brief Get field autopilot from heartbeat message
 185  *
 186  * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 187  */
 188 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t *msg)
 189 {
 190     return _MAV_RETURN_uint8_t(msg, 5);
 191 }
 192
 193 /**
 194  * @brief Get field base_mode from heartbeat message
 195  *
 196  * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 197  */
 198 static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t *msg)
 199 {
 200     return _MAV_RETURN_uint8_t(msg, 6);
 201 }
 202
 203 /**
 204  * @brief Get field custom_mode from heartbeat message
 205  *
 206  * @return A bitfield for use for autopilot-specific flags.
 207  */
 208 static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t *msg)
 209 {
 210     return _MAV_RETURN_uint32_t(msg, 0);
 211 }
 212
 213 /**
 214  * @brief Get field system_status from heartbeat message
 215  *
 216  * @return System status flag, see MAV_STATE ENUM
 217  */
 218 static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t *msg)
 219 {
 220     return _MAV_RETURN_uint8_t(msg, 7);
 221 }
 222
 223 /**
 224  * @brief Get field mavlink_version from heartbeat message
 225  *
 226  * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
 227  */
 228 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t *msg)
 229 {
 230     return _MAV_RETURN_uint8_t(msg, 8);
 231 }
 232
 233 /**
 234  * @brief Decode a heartbeat message into a struct
 235  *
 236  * @param msg The message to decode
 237  * @param heartbeat C-struct to decode the message contents into
 238  */
 239 static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t *msg, mavlink_heartbeat_t *heartbeat)
 240 {
 241 #if MAVLINK_NEED_BYTE_SWAP
 242     heartbeat->custom_mode     = mavlink_msg_heartbeat_get_custom_mode(msg);
 243     heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
 244     heartbeat->autopilot       = mavlink_msg_heartbeat_get_autopilot(msg);
 245     heartbeat->base_mode       = mavlink_msg_heartbeat_get_base_mode(msg);
 246     heartbeat->system_status   = mavlink_msg_heartbeat_get_system_status(msg);
 247     heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
 248 #else
 249     memcpy(heartbeat, _MAV_PAYLOAD(msg), 9);
 250 #endif
 251 }