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157 lines
6.7 KiB
157 lines
6.7 KiB
// MESSAGE HEARTBEAT PACKING |
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#define MAVLINK_MSG_ID_HEARTBEAT 0 |
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3 |
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#define MAVLINK_MSG_0_LEN 3 |
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typedef struct __mavlink_heartbeat_t |
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{ |
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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; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
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uint8_t mavlink_version; ///< MAVLink version |
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} mavlink_heartbeat_t; |
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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 Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE 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, uint8_t type, uint8_t autopilot) |
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{ |
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mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
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p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
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p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN); |
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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 chan The MAVLink channel this message was 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 Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE 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, mavlink_message_t* msg, uint8_t type, uint8_t autopilot) |
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{ |
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mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; |
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p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
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p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN); |
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} |
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/** |
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* @brief Encode a heartbeat struct into a message |
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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); |
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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 Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE 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) |
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{ |
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mavlink_header_t hdr; |
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mavlink_heartbeat_t payload; |
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uint16_t checksum; |
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mavlink_heartbeat_t *p = &payload; |
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p->type = type; // uint8_t:Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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p->autopilot = autopilot; // uint8_t:Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
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p->mavlink_version = MAVLINK_VERSION; // uint8_t_mavlink_version:MAVLink version |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_HEARTBEAT_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_HEARTBEAT; |
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hdr.sysid = mavlink_system.sysid; |
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hdr.compid = mavlink_system.compid; |
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hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; |
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mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); |
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crc_init(&checksum); |
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checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN); |
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checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len ); |
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hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len); |
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mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES); |
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} |
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#endif |
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// MESSAGE HEARTBEAT UNPACKING |
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/** |
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* @brief Get field type from heartbeat message |
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* |
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* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) |
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*/ |
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static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg) |
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{ |
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mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; |
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return (uint8_t)(p->type); |
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} |
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/** |
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* @brief Get field autopilot from heartbeat message |
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* |
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* @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM |
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*/ |
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static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg) |
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{ |
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mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; |
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return (uint8_t)(p->autopilot); |
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} |
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/** |
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* @brief Get field mavlink_version from heartbeat message |
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* |
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* @return MAVLink version |
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*/ |
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static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg) |
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{ |
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mavlink_heartbeat_t *p = (mavlink_heartbeat_t *)&msg->payload[0]; |
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return (uint8_t)(p->mavlink_version); |
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} |
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/** |
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* @brief Decode a heartbeat message into a struct |
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* |
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* @param msg The message to decode |
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* @param heartbeat C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat) |
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{ |
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memcpy( heartbeat, msg->payload, sizeof(mavlink_heartbeat_t)); |
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}
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