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// MESSAGE HEARTBEAT PACKING
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#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; /*< A bitfield for use for autopilot-specific flags.*/
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uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
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uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
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uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/
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uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/
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uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
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} mavlink_heartbeat_t;
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
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#define MAVLINK_MSG_ID_0_LEN 9
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#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
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#define MAVLINK_MSG_ID_0_CRC 50
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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"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) }, \
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{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
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{ "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
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{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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/**
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* @brief Pack a heartbeat message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @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_AUTOPILOT ENUM
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* @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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* @param custom_mode A bitfield for use for autopilot-specific flags.
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* @param system_status System status flag, see MAV_STATE ENUM
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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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[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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}
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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
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @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_AUTOPILOT ENUM
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* @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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* @param custom_mode A bitfield for use for autopilot-specific flags.
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* @param system_status System status flag, see MAV_STATE ENUM
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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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[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#else
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mavlink_heartbeat_t packet;
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packet.custom_mode = custom_mode;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.base_mode = base_mode;
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packet.system_status = system_status;
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packet.mavlink_version = 3;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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}
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/**
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* @brief Encode a heartbeat struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param heartbeat C-struct to read the message contents from
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*/
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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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{
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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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}
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/**
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* @brief Encode a heartbeat struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
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}
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/**
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* @brief Send a heartbeat message
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* @param chan MAVLink channel to send the message
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*
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* @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_AUTOPILOT ENUM
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* @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
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* @param custom_mode A bitfield for use for autopilot-specific flags.
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* @param system_status System status flag, see MAV_STATE 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[MAVLINK_MSG_ID_HEARTBEAT_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_uint8_t(buf, 4, type);
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_mav_put_uint8_t(buf, 5, autopilot);
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_mav_put_uint8_t(buf, 6, base_mode);
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_mav_put_uint8_t(buf, 7, system_status);
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_mav_put_uint8_t(buf, 8, 3);
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|
#if MAVLINK_CRC_EXTRA
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|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
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#else
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|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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#endif
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|
#else
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|
mavlink_heartbeat_t packet;
|
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|
packet.custom_mode = custom_mode;
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|
packet.type = type;
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|
packet.autopilot = autopilot;
|
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|
packet.base_mode = base_mode;
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|
packet.system_status = system_status;
|
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|
packet.mavlink_version = 3;
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192
|
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|
193
|
#if MAVLINK_CRC_EXTRA
|
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|
194
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
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195
|
#else
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|
196
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
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197
|
#endif
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|
198
|
#endif
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|
199
|
}
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|
200
|
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|
201
|
#if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
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|
202
|
/*
|
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|
203
|
This varient of _send() can be used to save stack space by re-using
|
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|
204
|
memory from the receive buffer. The caller provides a
|
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|
205
|
mavlink_message_t which is the size of a full mavlink message. This
|
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|
206
|
is usually the receive buffer for the channel, and allows a reply to an
|
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|
207
|
incoming message with minimum stack space usage.
|
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|
208
|
*/
|
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|
209
|
static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, 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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|
211
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
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|
212
|
char *buf = (char *)msgbuf;
|
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|
213
|
_mav_put_uint32_t(buf, 0, custom_mode);
|
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|
214
|
_mav_put_uint8_t(buf, 4, type);
|
| bhepp |
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|
215
|
_mav_put_uint8_t(buf, 5, autopilot);
|
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|
216
|
_mav_put_uint8_t(buf, 6, base_mode);
|
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|
217
|
_mav_put_uint8_t(buf, 7, system_status);
|
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|
218
|
_mav_put_uint8_t(buf, 8, 3);
|
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|
219
|
|
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|
220
|
#if MAVLINK_CRC_EXTRA
|
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|
221
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
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|
222
|
#else
|
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|
223
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
|
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|
224
|
#endif
|
| bhepp |
0:28183cc7963f
|
225
|
#else
|
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|
226
|
mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
|
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0:28183cc7963f
|
227
|
packet->custom_mode = custom_mode;
|
| bhepp |
0:28183cc7963f
|
228
|
packet->type = type;
|
| bhepp |
0:28183cc7963f
|
229
|
packet->autopilot = autopilot;
|
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0:28183cc7963f
|
230
|
packet->base_mode = base_mode;
|
| bhepp |
0:28183cc7963f
|
231
|
packet->system_status = system_status;
|
| bhepp |
0:28183cc7963f
|
232
|
packet->mavlink_version = 3;
|
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|
233
|
|
| bhepp |
0:28183cc7963f
|
234
|
#if MAVLINK_CRC_EXTRA
|
| bhepp |
0:28183cc7963f
|
235
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
|
| bhepp |
0:28183cc7963f
|
236
|
#else
|
| bhepp |
0:28183cc7963f
|
237
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
|
| bhepp |
0:28183cc7963f
|
238
|
#endif
|
| bhepp |
0:28183cc7963f
|
239
|
#endif
|
| bhepp |
0:28183cc7963f
|
240
|
}
|
| bhepp |
0:28183cc7963f
|
241
|
#endif
|
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0:28183cc7963f
|
242
|
|
| bhepp |
0:28183cc7963f
|
243
|
#endif
|
| bhepp |
0:28183cc7963f
|
244
|
|
| bhepp |
0:28183cc7963f
|
245
|
// MESSAGE HEARTBEAT UNPACKING
|
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0:28183cc7963f
|
246
|
|
| bhepp |
0:28183cc7963f
|
247
|
|
| bhepp |
0:28183cc7963f
|
248
|
/**
|
| bhepp |
0:28183cc7963f
|
249
|
* @brief Get field type from heartbeat message
|
| bhepp |
0:28183cc7963f
|
250
|
*
|
| bhepp |
0:28183cc7963f
|
251
|
* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
| bhepp |
0:28183cc7963f
|
252
|
*/
|
| bhepp |
0:28183cc7963f
|
253
|
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
254
|
{
|
| bhepp |
0:28183cc7963f
|
255
|
return _MAV_RETURN_uint8_t(msg, 4);
|
| bhepp |
0:28183cc7963f
|
256
|
}
|
| bhepp |
0:28183cc7963f
|
257
|
|
| bhepp |
0:28183cc7963f
|
258
|
/**
|
| bhepp |
0:28183cc7963f
|
259
|
* @brief Get field autopilot from heartbeat message
|
| bhepp |
0:28183cc7963f
|
260
|
*
|
| bhepp |
0:28183cc7963f
|
261
|
* @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
|
| bhepp |
0:28183cc7963f
|
262
|
*/
|
| bhepp |
0:28183cc7963f
|
263
|
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
264
|
{
|
| bhepp |
0:28183cc7963f
|
265
|
return _MAV_RETURN_uint8_t(msg, 5);
|
| bhepp |
0:28183cc7963f
|
266
|
}
|
| bhepp |
0:28183cc7963f
|
267
|
|
| bhepp |
0:28183cc7963f
|
268
|
/**
|
| bhepp |
0:28183cc7963f
|
269
|
* @brief Get field base_mode from heartbeat message
|
| bhepp |
0:28183cc7963f
|
270
|
*
|
| bhepp |
0:28183cc7963f
|
271
|
* @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
|
| bhepp |
0:28183cc7963f
|
272
|
*/
|
| bhepp |
0:28183cc7963f
|
273
|
static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
274
|
{
|
| bhepp |
0:28183cc7963f
|
275
|
return _MAV_RETURN_uint8_t(msg, 6);
|
| bhepp |
0:28183cc7963f
|
276
|
}
|
| bhepp |
0:28183cc7963f
|
277
|
|
| bhepp |
0:28183cc7963f
|
278
|
/**
|
| bhepp |
0:28183cc7963f
|
279
|
* @brief Get field custom_mode from heartbeat message
|
| bhepp |
0:28183cc7963f
|
280
|
*
|
| bhepp |
0:28183cc7963f
|
281
|
* @return A bitfield for use for autopilot-specific flags.
|
| bhepp |
0:28183cc7963f
|
282
|
*/
|
| bhepp |
0:28183cc7963f
|
283
|
static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
284
|
{
|
| bhepp |
0:28183cc7963f
|
285
|
return _MAV_RETURN_uint32_t(msg, 0);
|
| bhepp |
0:28183cc7963f
|
286
|
}
|
| bhepp |
0:28183cc7963f
|
287
|
|
| bhepp |
0:28183cc7963f
|
288
|
/**
|
| bhepp |
0:28183cc7963f
|
289
|
* @brief Get field system_status from heartbeat message
|
| bhepp |
0:28183cc7963f
|
290
|
*
|
| bhepp |
0:28183cc7963f
|
291
|
* @return System status flag, see MAV_STATE ENUM
|
| bhepp |
0:28183cc7963f
|
292
|
*/
|
| bhepp |
0:28183cc7963f
|
293
|
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
294
|
{
|
| bhepp |
0:28183cc7963f
|
295
|
return _MAV_RETURN_uint8_t(msg, 7);
|
| bhepp |
0:28183cc7963f
|
296
|
}
|
| bhepp |
0:28183cc7963f
|
297
|
|
| bhepp |
0:28183cc7963f
|
298
|
/**
|
| bhepp |
0:28183cc7963f
|
299
|
* @brief Get field mavlink_version from heartbeat message
|
| bhepp |
0:28183cc7963f
|
300
|
*
|
| bhepp |
0:28183cc7963f
|
301
|
* @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
|
| bhepp |
0:28183cc7963f
|
302
|
*/
|
| bhepp |
0:28183cc7963f
|
303
|
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
|
| bhepp |
0:28183cc7963f
|
304
|
{
|
| bhepp |
0:28183cc7963f
|
305
|
return _MAV_RETURN_uint8_t(msg, 8);
|
| bhepp |
0:28183cc7963f
|
306
|
}
|
| bhepp |
0:28183cc7963f
|
307
|
|
| bhepp |
0:28183cc7963f
|
308
|
/**
|
| bhepp |
0:28183cc7963f
|
309
|
* @brief Decode a heartbeat message into a struct
|
| bhepp |
0:28183cc7963f
|
310
|
*
|
| bhepp |
0:28183cc7963f
|
311
|
* @param msg The message to decode
|
| bhepp |
0:28183cc7963f
|
312
|
* @param heartbeat C-struct to decode the message contents into
|
| bhepp |
0:28183cc7963f
|
313
|
*/
|
| bhepp |
0:28183cc7963f
|
314
|
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
|
| bhepp |
0:28183cc7963f
|
315
|
{
|
| bhepp |
0:28183cc7963f
|
316
|
#if MAVLINK_NEED_BYTE_SWAP
|
| bhepp |
0:28183cc7963f
|
317
|
heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
|
| bhepp |
0:28183cc7963f
|
318
|
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
|
| bhepp |
0:28183cc7963f
|
319
|
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
|
| bhepp |
0:28183cc7963f
|
320
|
heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
|
| bhepp |
0:28183cc7963f
|
321
|
heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
|
| bhepp |
0:28183cc7963f
|
322
|
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
|
| bhepp |
0:28183cc7963f
|
323
|
#else
|
| bhepp |
0:28183cc7963f
|
324
|
memcpy(heartbeat, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HEARTBEAT_LEN);
|
| bhepp |
0:28183cc7963f
|
325
|
#endif
|
| bhepp |
0:28183cc7963f
|
326
|
}
|
