mavlink_msg_diagnostic.h

00001 // MESSAGE DIAGNOSTIC PACKING
00002 
00003 #define MAVLINK_MSG_ID_DIAGNOSTIC 173
00004 
00005 typedef struct __mavlink_diagnostic_t 
00006 {
00007     float diagFl1; ///< Diagnostic float 1
00008     float diagFl2; ///< Diagnostic float 2
00009     float diagFl3; ///< Diagnostic float 3
00010     int16_t diagSh1; ///< Diagnostic short 1
00011     int16_t diagSh2; ///< Diagnostic short 2
00012     int16_t diagSh3; ///< Diagnostic short 3
00013 
00014 } mavlink_diagnostic_t;
00015 
00016 
00017 
00018 /**
00019  * @brief Pack a diagnostic message
00020  * @param system_id ID of this system
00021  * @param component_id ID of this component (e.g. 200 for IMU)
00022  * @param msg The MAVLink message to compress the data into
00023  *
00024  * @param diagFl1 Diagnostic float 1
00025  * @param diagFl2 Diagnostic float 2
00026  * @param diagFl3 Diagnostic float 3
00027  * @param diagSh1 Diagnostic short 1
00028  * @param diagSh2 Diagnostic short 2
00029  * @param diagSh3 Diagnostic short 3
00030  * @return length of the message in bytes (excluding serial stream start sign)
00031  */
00032 static inline uint16_t mavlink_msg_diagnostic_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
00033 {
00034     uint16_t i = 0;
00035     msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
00036 
00037     i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1
00038     i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2
00039     i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3
00040     i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1
00041     i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2
00042     i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3
00043 
00044     return mavlink_finalize_message(msg, system_id, component_id, i);
00045 }
00046 
00047 /**
00048  * @brief Pack a diagnostic message
00049  * @param system_id ID of this system
00050  * @param component_id ID of this component (e.g. 200 for IMU)
00051  * @param chan The MAVLink channel this message was sent over
00052  * @param msg The MAVLink message to compress the data into
00053  * @param diagFl1 Diagnostic float 1
00054  * @param diagFl2 Diagnostic float 2
00055  * @param diagFl3 Diagnostic float 3
00056  * @param diagSh1 Diagnostic short 1
00057  * @param diagSh2 Diagnostic short 2
00058  * @param diagSh3 Diagnostic short 3
00059  * @return length of the message in bytes (excluding serial stream start sign)
00060  */
00061 static inline uint16_t mavlink_msg_diagnostic_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
00062 {
00063     uint16_t i = 0;
00064     msg->msgid = MAVLINK_MSG_ID_DIAGNOSTIC;
00065 
00066     i += put_float_by_index(diagFl1, i, msg->payload); // Diagnostic float 1
00067     i += put_float_by_index(diagFl2, i, msg->payload); // Diagnostic float 2
00068     i += put_float_by_index(diagFl3, i, msg->payload); // Diagnostic float 3
00069     i += put_int16_t_by_index(diagSh1, i, msg->payload); // Diagnostic short 1
00070     i += put_int16_t_by_index(diagSh2, i, msg->payload); // Diagnostic short 2
00071     i += put_int16_t_by_index(diagSh3, i, msg->payload); // Diagnostic short 3
00072 
00073     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00074 }
00075 
00076 /**
00077  * @brief Encode a diagnostic struct into a message
00078  *
00079  * @param system_id ID of this system
00080  * @param component_id ID of this component (e.g. 200 for IMU)
00081  * @param msg The MAVLink message to compress the data into
00082  * @param diagnostic C-struct to read the message contents from
00083  */
00084 static inline uint16_t mavlink_msg_diagnostic_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_diagnostic_t* diagnostic)
00085 {
00086     return mavlink_msg_diagnostic_pack(system_id, component_id, msg, diagnostic->diagFl1, diagnostic->diagFl2, diagnostic->diagFl3, diagnostic->diagSh1, diagnostic->diagSh2, diagnostic->diagSh3);
00087 }
00088 
00089 /**
00090  * @brief Send a diagnostic message
00091  * @param chan MAVLink channel to send the message
00092  *
00093  * @param diagFl1 Diagnostic float 1
00094  * @param diagFl2 Diagnostic float 2
00095  * @param diagFl3 Diagnostic float 3
00096  * @param diagSh1 Diagnostic short 1
00097  * @param diagSh2 Diagnostic short 2
00098  * @param diagSh3 Diagnostic short 3
00099  */
00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00101 
00102 static inline void mavlink_msg_diagnostic_send(mavlink_channel_t chan, float diagFl1, float diagFl2, float diagFl3, int16_t diagSh1, int16_t diagSh2, int16_t diagSh3)
00103 {
00104     mavlink_message_t msg;
00105     mavlink_msg_diagnostic_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, diagFl1, diagFl2, diagFl3, diagSh1, diagSh2, diagSh3);
00106     mavlink_send_uart(chan, &msg);
00107 }
00108 
00109 #endif
00110 // MESSAGE DIAGNOSTIC UNPACKING
00111 
00112 /**
00113  * @brief Get field diagFl1 from diagnostic message
00114  *
00115  * @return Diagnostic float 1
00116  */
00117 static inline float mavlink_msg_diagnostic_get_diagFl1(const mavlink_message_t* msg)
00118 {
00119     generic_32bit r;
00120     r.b[3] = (msg->payload)[0];
00121     r.b[2] = (msg->payload)[1];
00122     r.b[1] = (msg->payload)[2];
00123     r.b[0] = (msg->payload)[3];
00124     return (float)r.f;
00125 }
00126 
00127 /**
00128  * @brief Get field diagFl2 from diagnostic message
00129  *
00130  * @return Diagnostic float 2
00131  */
00132 static inline float mavlink_msg_diagnostic_get_diagFl2(const mavlink_message_t* msg)
00133 {
00134     generic_32bit r;
00135     r.b[3] = (msg->payload+sizeof(float))[0];
00136     r.b[2] = (msg->payload+sizeof(float))[1];
00137     r.b[1] = (msg->payload+sizeof(float))[2];
00138     r.b[0] = (msg->payload+sizeof(float))[3];
00139     return (float)r.f;
00140 }
00141 
00142 /**
00143  * @brief Get field diagFl3 from diagnostic message
00144  *
00145  * @return Diagnostic float 3
00146  */
00147 static inline float mavlink_msg_diagnostic_get_diagFl3(const mavlink_message_t* msg)
00148 {
00149     generic_32bit r;
00150     r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
00151     r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
00152     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
00153     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
00154     return (float)r.f;
00155 }
00156 
00157 /**
00158  * @brief Get field diagSh1 from diagnostic message
00159  *
00160  * @return Diagnostic short 1
00161  */
00162 static inline int16_t mavlink_msg_diagnostic_get_diagSh1(const mavlink_message_t* msg)
00163 {
00164     generic_16bit r;
00165     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
00166     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
00167     return (int16_t)r.s;
00168 }
00169 
00170 /**
00171  * @brief Get field diagSh2 from diagnostic message
00172  *
00173  * @return Diagnostic short 2
00174  */
00175 static inline int16_t mavlink_msg_diagnostic_get_diagSh2(const mavlink_message_t* msg)
00176 {
00177     generic_16bit r;
00178     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
00179     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
00180     return (int16_t)r.s;
00181 }
00182 
00183 /**
00184  * @brief Get field diagSh3 from diagnostic message
00185  *
00186  * @return Diagnostic short 3
00187  */
00188 static inline int16_t mavlink_msg_diagnostic_get_diagSh3(const mavlink_message_t* msg)
00189 {
00190     generic_16bit r;
00191     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[0];
00192     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(int16_t))[1];
00193     return (int16_t)r.s;
00194 }
00195 
00196 /**
00197  * @brief Decode a diagnostic message into a struct
00198  *
00199  * @param msg The message to decode
00200  * @param diagnostic C-struct to decode the message contents into
00201  */
00202 static inline void mavlink_msg_diagnostic_decode(const mavlink_message_t* msg, mavlink_diagnostic_t* diagnostic)
00203 {
00204     diagnostic->diagFl1 = mavlink_msg_diagnostic_get_diagFl1(msg);
00205     diagnostic->diagFl2 = mavlink_msg_diagnostic_get_diagFl2(msg);
00206     diagnostic->diagFl3 = mavlink_msg_diagnostic_get_diagFl3(msg);
00207     diagnostic->diagSh1 = mavlink_msg_diagnostic_get_diagSh1(msg);
00208     diagnostic->diagSh2 = mavlink_msg_diagnostic_get_diagSh2(msg);
00209     diagnostic->diagSh3 = mavlink_msg_diagnostic_get_diagSh3(msg);
00210 }