mavlink_msg_heartbeat.h

00001 // MESSAGE HEARTBEAT PACKING
00002 
00003 #define MAVLINK_MSG_ID_HEARTBEAT 0
00004 
00005 typedef struct __mavlink_heartbeat_t 
00006 {
00007     uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00008     uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00009     uint8_t mavlink_version; ///< MAVLink version
00010 
00011 } mavlink_heartbeat_t;
00012 
00013 
00014 
00015 /**
00016  * @brief Pack a heartbeat message
00017  * @param system_id ID of this system
00018  * @param component_id ID of this component (e.g. 200 for IMU)
00019  * @param msg The MAVLink message to compress the data into
00020  *
00021  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00022  * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00023  * @return length of the message in bytes (excluding serial stream start sign)
00024  */
00025 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
00026 {
00027     uint16_t i = 0;
00028     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
00029 
00030     i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00031     i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00032     i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
00033 
00034     return mavlink_finalize_message(msg, system_id, component_id, i);
00035 }
00036 
00037 /**
00038  * @brief Pack a heartbeat message
00039  * @param system_id ID of this system
00040  * @param component_id ID of this component (e.g. 200 for IMU)
00041  * @param chan The MAVLink channel this message was sent over
00042  * @param msg The MAVLink message to compress the data into
00043  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00044  * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00045  * @return length of the message in bytes (excluding serial stream start sign)
00046  */
00047 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
00048 {
00049     uint16_t i = 0;
00050     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
00051 
00052     i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00053     i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00054     i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
00055 
00056     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00057 }
00058 
00059 /**
00060  * @brief Encode a heartbeat struct into a message
00061  *
00062  * @param system_id ID of this system
00063  * @param component_id ID of this component (e.g. 200 for IMU)
00064  * @param msg The MAVLink message to compress the data into
00065  * @param heartbeat C-struct to read the message contents from
00066  */
00067 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)
00068 {
00069     return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
00070 }
00071 
00072 /**
00073  * @brief Send a heartbeat message
00074  * @param chan MAVLink channel to send the message
00075  *
00076  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00077  * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00078  */
00079 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00080 
00081 static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
00082 {
00083     mavlink_message_t msg;
00084     mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
00085     mavlink_send_uart(chan, &msg);
00086 }
00087 
00088 #endif
00089 // MESSAGE HEARTBEAT UNPACKING
00090 
00091 /**
00092  * @brief Get field type from heartbeat message
00093  *
00094  * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
00095  */
00096 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
00097 {
00098     return (uint8_t)(msg->payload)[0];
00099 }
00100 
00101 /**
00102  * @brief Get field autopilot from heartbeat message
00103  *
00104  * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
00105  */
00106 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
00107 {
00108     return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
00109 }
00110 
00111 /**
00112  * @brief Get field mavlink_version from heartbeat message
00113  *
00114  * @return MAVLink version
00115  */
00116 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
00117 {
00118     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
00119 }
00120 
00121 /**
00122  * @brief Decode a heartbeat message into a struct
00123  *
00124  * @param msg The message to decode
00125  * @param heartbeat C-struct to decode the message contents into
00126  */
00127 static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
00128 {
00129     heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
00130     heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
00131     heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
00132 }