#pragma once // MESSAGE HIGH_LATENCY PACKING #define MAVLINK_MSG_ID_HIGH_LATENCY 234 MAVPACKED( typedef struct __mavlink_high_latency_t { uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/ int32_t latitude; /*< Latitude, expressed as degrees * 1E7*/ int32_t longitude; /*< Longitude, expressed as degrees * 1E7*/ int16_t roll; /*< roll (centidegrees)*/ int16_t pitch; /*< pitch (centidegrees)*/ uint16_t heading; /*< heading (centidegrees)*/ int16_t heading_sp; /*< heading setpoint (centidegrees)*/ int16_t altitude_amsl; /*< Altitude above mean sea level (meters)*/ int16_t altitude_sp; /*< Altitude setpoint relative to the home position (meters)*/ uint16_t wp_distance; /*< distance to target (meters)*/ uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/ uint8_t landed_state; /*< The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.*/ int8_t throttle; /*< throttle (percentage)*/ uint8_t airspeed; /*< airspeed (m/s)*/ uint8_t airspeed_sp; /*< airspeed setpoint (m/s)*/ uint8_t groundspeed; /*< groundspeed (m/s)*/ int8_t climb_rate; /*< climb rate (m/s)*/ uint8_t gps_nsat; /*< Number of satellites visible. If unknown, set to 255*/ uint8_t gps_fix_type; /*< See the GPS_FIX_TYPE enum.*/ uint8_t battery_remaining; /*< Remaining battery (percentage)*/ int8_t temperature; /*< Autopilot temperature (degrees C)*/ int8_t temperature_air; /*< Air temperature (degrees C) from airspeed sensor*/ uint8_t failsafe; /*< failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)*/ uint8_t wp_num; /*< current waypoint number*/ }) mavlink_high_latency_t; #define MAVLINK_MSG_ID_HIGH_LATENCY_LEN 40 #define MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN 40 #define MAVLINK_MSG_ID_234_LEN 40 #define MAVLINK_MSG_ID_234_MIN_LEN 40 #define MAVLINK_MSG_ID_HIGH_LATENCY_CRC 150 #define MAVLINK_MSG_ID_234_CRC 150 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_HIGH_LATENCY { \ 234, \ "HIGH_LATENCY", \ 24, \ { { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_high_latency_t, base_mode) }, \ { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_high_latency_t, custom_mode) }, \ { "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_high_latency_t, landed_state) }, \ { "roll", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_high_latency_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_high_latency_t, pitch) }, \ { "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_high_latency_t, heading) }, \ { "throttle", NULL, MAVLINK_TYPE_INT8_T, 0, 28, offsetof(mavlink_high_latency_t, throttle) }, \ { "heading_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_high_latency_t, heading_sp) }, \ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_high_latency_t, latitude) }, \ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_high_latency_t, longitude) }, \ { "altitude_amsl", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_high_latency_t, altitude_amsl) }, \ { "altitude_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_high_latency_t, altitude_sp) }, \ { "airspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_high_latency_t, airspeed) }, \ { "airspeed_sp", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_high_latency_t, airspeed_sp) }, \ { "groundspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_high_latency_t, groundspeed) }, \ { "climb_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 32, offsetof(mavlink_high_latency_t, climb_rate) }, \ { "gps_nsat", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_high_latency_t, gps_nsat) }, \ { "gps_fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_high_latency_t, gps_fix_type) }, \ { "battery_remaining", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_high_latency_t, battery_remaining) }, \ { "temperature", NULL, MAVLINK_TYPE_INT8_T, 0, 36, offsetof(mavlink_high_latency_t, temperature) }, \ { "temperature_air", NULL, MAVLINK_TYPE_INT8_T, 0, 37, offsetof(mavlink_high_latency_t, temperature_air) }, \ { "failsafe", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_high_latency_t, failsafe) }, \ { "wp_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_high_latency_t, wp_num) }, \ { "wp_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_high_latency_t, wp_distance) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_HIGH_LATENCY { \ "HIGH_LATENCY", \ 24, \ { { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_high_latency_t, base_mode) }, \ { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_high_latency_t, custom_mode) }, \ { "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_high_latency_t, landed_state) }, \ { "roll", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_high_latency_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_high_latency_t, pitch) }, \ { "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_high_latency_t, heading) }, \ { "throttle", NULL, MAVLINK_TYPE_INT8_T, 0, 28, offsetof(mavlink_high_latency_t, throttle) }, \ { "heading_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_high_latency_t, heading_sp) }, \ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_high_latency_t, latitude) }, \ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_high_latency_t, longitude) }, \ { "altitude_amsl", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_high_latency_t, altitude_amsl) }, \ { "altitude_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_high_latency_t, altitude_sp) }, \ { "airspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_high_latency_t, airspeed) }, \ { "airspeed_sp", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_high_latency_t, airspeed_sp) }, \ { "groundspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_high_latency_t, groundspeed) }, \ { "climb_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 32, offsetof(mavlink_high_latency_t, climb_rate) }, \ { "gps_nsat", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_high_latency_t, gps_nsat) }, \ { "gps_fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_high_latency_t, gps_fix_type) }, \ { "battery_remaining", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_high_latency_t, battery_remaining) }, \ { "temperature", NULL, MAVLINK_TYPE_INT8_T, 0, 36, offsetof(mavlink_high_latency_t, temperature) }, \ { "temperature_air", NULL, MAVLINK_TYPE_INT8_T, 0, 37, offsetof(mavlink_high_latency_t, temperature_air) }, \ { "failsafe", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_high_latency_t, failsafe) }, \ { "wp_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_high_latency_t, wp_num) }, \ { "wp_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_high_latency_t, wp_distance) }, \ } \ } #endif /** * @brief Pack a high_latency message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. * @param roll roll (centidegrees) * @param pitch pitch (centidegrees) * @param heading heading (centidegrees) * @param throttle throttle (percentage) * @param heading_sp heading setpoint (centidegrees) * @param latitude Latitude, expressed as degrees * 1E7 * @param longitude Longitude, expressed as degrees * 1E7 * @param altitude_amsl Altitude above mean sea level (meters) * @param altitude_sp Altitude setpoint relative to the home position (meters) * @param airspeed airspeed (m/s) * @param airspeed_sp airspeed setpoint (m/s) * @param groundspeed groundspeed (m/s) * @param climb_rate climb rate (m/s) * @param gps_nsat Number of satellites visible. If unknown, set to 255 * @param gps_fix_type See the GPS_FIX_TYPE enum. * @param battery_remaining Remaining battery (percentage) * @param temperature Autopilot temperature (degrees C) * @param temperature_air Air temperature (degrees C) from airspeed sensor * @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) * @param wp_num current waypoint number * @param wp_distance distance to target (meters) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_high_latency_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIGH_LATENCY_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_int32_t(buf, 4, latitude); _mav_put_int32_t(buf, 8, longitude); _mav_put_int16_t(buf, 12, roll); _mav_put_int16_t(buf, 14, pitch); _mav_put_uint16_t(buf, 16, heading); _mav_put_int16_t(buf, 18, heading_sp); _mav_put_int16_t(buf, 20, altitude_amsl); _mav_put_int16_t(buf, 22, altitude_sp); _mav_put_uint16_t(buf, 24, wp_distance); _mav_put_uint8_t(buf, 26, base_mode); _mav_put_uint8_t(buf, 27, landed_state); _mav_put_int8_t(buf, 28, throttle); _mav_put_uint8_t(buf, 29, airspeed); _mav_put_uint8_t(buf, 30, airspeed_sp); _mav_put_uint8_t(buf, 31, groundspeed); _mav_put_int8_t(buf, 32, climb_rate); _mav_put_uint8_t(buf, 33, gps_nsat); _mav_put_uint8_t(buf, 34, gps_fix_type); _mav_put_uint8_t(buf, 35, battery_remaining); _mav_put_int8_t(buf, 36, temperature); _mav_put_int8_t(buf, 37, temperature_air); _mav_put_uint8_t(buf, 38, failsafe); _mav_put_uint8_t(buf, 39, wp_num); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGH_LATENCY_LEN); #else mavlink_high_latency_t packet; packet.custom_mode = custom_mode; packet.latitude = latitude; packet.longitude = longitude; packet.roll = roll; packet.pitch = pitch; packet.heading = heading; packet.heading_sp = heading_sp; packet.altitude_amsl = altitude_amsl; packet.altitude_sp = altitude_sp; packet.wp_distance = wp_distance; packet.base_mode = base_mode; packet.landed_state = landed_state; packet.throttle = throttle; packet.airspeed = airspeed; packet.airspeed_sp = airspeed_sp; packet.groundspeed = groundspeed; packet.climb_rate = climb_rate; packet.gps_nsat = gps_nsat; packet.gps_fix_type = gps_fix_type; packet.battery_remaining = battery_remaining; packet.temperature = temperature; packet.temperature_air = temperature_air; packet.failsafe = failsafe; packet.wp_num = wp_num; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGH_LATENCY_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIGH_LATENCY; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); } /** * @brief Pack a high_latency message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. * @param roll roll (centidegrees) * @param pitch pitch (centidegrees) * @param heading heading (centidegrees) * @param throttle throttle (percentage) * @param heading_sp heading setpoint (centidegrees) * @param latitude Latitude, expressed as degrees * 1E7 * @param longitude Longitude, expressed as degrees * 1E7 * @param altitude_amsl Altitude above mean sea level (meters) * @param altitude_sp Altitude setpoint relative to the home position (meters) * @param airspeed airspeed (m/s) * @param airspeed_sp airspeed setpoint (m/s) * @param groundspeed groundspeed (m/s) * @param climb_rate climb rate (m/s) * @param gps_nsat Number of satellites visible. If unknown, set to 255 * @param gps_fix_type See the GPS_FIX_TYPE enum. * @param battery_remaining Remaining battery (percentage) * @param temperature Autopilot temperature (degrees C) * @param temperature_air Air temperature (degrees C) from airspeed sensor * @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) * @param wp_num current waypoint number * @param wp_distance distance to target (meters) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_high_latency_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t base_mode,uint32_t custom_mode,uint8_t landed_state,int16_t roll,int16_t pitch,uint16_t heading,int8_t throttle,int16_t heading_sp,int32_t latitude,int32_t longitude,int16_t altitude_amsl,int16_t altitude_sp,uint8_t airspeed,uint8_t airspeed_sp,uint8_t groundspeed,int8_t climb_rate,uint8_t gps_nsat,uint8_t gps_fix_type,uint8_t battery_remaining,int8_t temperature,int8_t temperature_air,uint8_t failsafe,uint8_t wp_num,uint16_t wp_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIGH_LATENCY_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_int32_t(buf, 4, latitude); _mav_put_int32_t(buf, 8, longitude); _mav_put_int16_t(buf, 12, roll); _mav_put_int16_t(buf, 14, pitch); _mav_put_uint16_t(buf, 16, heading); _mav_put_int16_t(buf, 18, heading_sp); _mav_put_int16_t(buf, 20, altitude_amsl); _mav_put_int16_t(buf, 22, altitude_sp); _mav_put_uint16_t(buf, 24, wp_distance); _mav_put_uint8_t(buf, 26, base_mode); _mav_put_uint8_t(buf, 27, landed_state); _mav_put_int8_t(buf, 28, throttle); _mav_put_uint8_t(buf, 29, airspeed); _mav_put_uint8_t(buf, 30, airspeed_sp); _mav_put_uint8_t(buf, 31, groundspeed); _mav_put_int8_t(buf, 32, climb_rate); _mav_put_uint8_t(buf, 33, gps_nsat); _mav_put_uint8_t(buf, 34, gps_fix_type); _mav_put_uint8_t(buf, 35, battery_remaining); _mav_put_int8_t(buf, 36, temperature); _mav_put_int8_t(buf, 37, temperature_air); _mav_put_uint8_t(buf, 38, failsafe); _mav_put_uint8_t(buf, 39, wp_num); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGH_LATENCY_LEN); #else mavlink_high_latency_t packet; packet.custom_mode = custom_mode; packet.latitude = latitude; packet.longitude = longitude; packet.roll = roll; packet.pitch = pitch; packet.heading = heading; packet.heading_sp = heading_sp; packet.altitude_amsl = altitude_amsl; packet.altitude_sp = altitude_sp; packet.wp_distance = wp_distance; packet.base_mode = base_mode; packet.landed_state = landed_state; packet.throttle = throttle; packet.airspeed = airspeed; packet.airspeed_sp = airspeed_sp; packet.groundspeed = groundspeed; packet.climb_rate = climb_rate; packet.gps_nsat = gps_nsat; packet.gps_fix_type = gps_fix_type; packet.battery_remaining = battery_remaining; packet.temperature = temperature; packet.temperature_air = temperature_air; packet.failsafe = failsafe; packet.wp_num = wp_num; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGH_LATENCY_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIGH_LATENCY; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); } /** * @brief Encode a high_latency struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param high_latency C-struct to read the message contents from */ static inline uint16_t mavlink_msg_high_latency_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_high_latency_t* high_latency) { return mavlink_msg_high_latency_pack(system_id, component_id, msg, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance); } /** * @brief Encode a high_latency struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param high_latency C-struct to read the message contents from */ static inline uint16_t mavlink_msg_high_latency_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_high_latency_t* high_latency) { return mavlink_msg_high_latency_pack_chan(system_id, component_id, chan, msg, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance); } /** * @brief Send a high_latency message * @param chan MAVLink channel to send the message * * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h * @param custom_mode A bitfield for use for autopilot-specific flags. * @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. * @param roll roll (centidegrees) * @param pitch pitch (centidegrees) * @param heading heading (centidegrees) * @param throttle throttle (percentage) * @param heading_sp heading setpoint (centidegrees) * @param latitude Latitude, expressed as degrees * 1E7 * @param longitude Longitude, expressed as degrees * 1E7 * @param altitude_amsl Altitude above mean sea level (meters) * @param altitude_sp Altitude setpoint relative to the home position (meters) * @param airspeed airspeed (m/s) * @param airspeed_sp airspeed setpoint (m/s) * @param groundspeed groundspeed (m/s) * @param climb_rate climb rate (m/s) * @param gps_nsat Number of satellites visible. If unknown, set to 255 * @param gps_fix_type See the GPS_FIX_TYPE enum. * @param battery_remaining Remaining battery (percentage) * @param temperature Autopilot temperature (degrees C) * @param temperature_air Air temperature (degrees C) from airspeed sensor * @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) * @param wp_num current waypoint number * @param wp_distance distance to target (meters) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_high_latency_send(mavlink_channel_t chan, uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIGH_LATENCY_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_int32_t(buf, 4, latitude); _mav_put_int32_t(buf, 8, longitude); _mav_put_int16_t(buf, 12, roll); _mav_put_int16_t(buf, 14, pitch); _mav_put_uint16_t(buf, 16, heading); _mav_put_int16_t(buf, 18, heading_sp); _mav_put_int16_t(buf, 20, altitude_amsl); _mav_put_int16_t(buf, 22, altitude_sp); _mav_put_uint16_t(buf, 24, wp_distance); _mav_put_uint8_t(buf, 26, base_mode); _mav_put_uint8_t(buf, 27, landed_state); _mav_put_int8_t(buf, 28, throttle); _mav_put_uint8_t(buf, 29, airspeed); _mav_put_uint8_t(buf, 30, airspeed_sp); _mav_put_uint8_t(buf, 31, groundspeed); _mav_put_int8_t(buf, 32, climb_rate); _mav_put_uint8_t(buf, 33, gps_nsat); _mav_put_uint8_t(buf, 34, gps_fix_type); _mav_put_uint8_t(buf, 35, battery_remaining); _mav_put_int8_t(buf, 36, temperature); _mav_put_int8_t(buf, 37, temperature_air); _mav_put_uint8_t(buf, 38, failsafe); _mav_put_uint8_t(buf, 39, wp_num); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, buf, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); #else mavlink_high_latency_t packet; packet.custom_mode = custom_mode; packet.latitude = latitude; packet.longitude = longitude; packet.roll = roll; packet.pitch = pitch; packet.heading = heading; packet.heading_sp = heading_sp; packet.altitude_amsl = altitude_amsl; packet.altitude_sp = altitude_sp; packet.wp_distance = wp_distance; packet.base_mode = base_mode; packet.landed_state = landed_state; packet.throttle = throttle; packet.airspeed = airspeed; packet.airspeed_sp = airspeed_sp; packet.groundspeed = groundspeed; packet.climb_rate = climb_rate; packet.gps_nsat = gps_nsat; packet.gps_fix_type = gps_fix_type; packet.battery_remaining = battery_remaining; packet.temperature = temperature; packet.temperature_air = temperature_air; packet.failsafe = failsafe; packet.wp_num = wp_num; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)&packet, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); #endif } /** * @brief Send a high_latency message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_high_latency_send_struct(mavlink_channel_t chan, const mavlink_high_latency_t* high_latency) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_high_latency_send(chan, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)high_latency, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); #endif } #if MAVLINK_MSG_ID_HIGH_LATENCY_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_high_latency_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_int32_t(buf, 4, latitude); _mav_put_int32_t(buf, 8, longitude); _mav_put_int16_t(buf, 12, roll); _mav_put_int16_t(buf, 14, pitch); _mav_put_uint16_t(buf, 16, heading); _mav_put_int16_t(buf, 18, heading_sp); _mav_put_int16_t(buf, 20, altitude_amsl); _mav_put_int16_t(buf, 22, altitude_sp); _mav_put_uint16_t(buf, 24, wp_distance); _mav_put_uint8_t(buf, 26, base_mode); _mav_put_uint8_t(buf, 27, landed_state); _mav_put_int8_t(buf, 28, throttle); _mav_put_uint8_t(buf, 29, airspeed); _mav_put_uint8_t(buf, 30, airspeed_sp); _mav_put_uint8_t(buf, 31, groundspeed); _mav_put_int8_t(buf, 32, climb_rate); _mav_put_uint8_t(buf, 33, gps_nsat); _mav_put_uint8_t(buf, 34, gps_fix_type); _mav_put_uint8_t(buf, 35, battery_remaining); _mav_put_int8_t(buf, 36, temperature); _mav_put_int8_t(buf, 37, temperature_air); _mav_put_uint8_t(buf, 38, failsafe); _mav_put_uint8_t(buf, 39, wp_num); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, buf, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); #else mavlink_high_latency_t *packet = (mavlink_high_latency_t *)msgbuf; packet->custom_mode = custom_mode; packet->latitude = latitude; packet->longitude = longitude; packet->roll = roll; packet->pitch = pitch; packet->heading = heading; packet->heading_sp = heading_sp; packet->altitude_amsl = altitude_amsl; packet->altitude_sp = altitude_sp; packet->wp_distance = wp_distance; packet->base_mode = base_mode; packet->landed_state = landed_state; packet->throttle = throttle; packet->airspeed = airspeed; packet->airspeed_sp = airspeed_sp; packet->groundspeed = groundspeed; packet->climb_rate = climb_rate; packet->gps_nsat = gps_nsat; packet->gps_fix_type = gps_fix_type; packet->battery_remaining = battery_remaining; packet->temperature = temperature; packet->temperature_air = temperature_air; packet->failsafe = failsafe; packet->wp_num = wp_num; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)packet, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC); #endif } #endif #endif // MESSAGE HIGH_LATENCY UNPACKING /** * @brief Get field base_mode from high_latency message * * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h */ static inline uint8_t mavlink_msg_high_latency_get_base_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 26); } /** * @brief Get field custom_mode from high_latency message * * @return A bitfield for use for autopilot-specific flags. */ static inline uint32_t mavlink_msg_high_latency_get_custom_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field landed_state from high_latency message * * @return The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. */ static inline uint8_t mavlink_msg_high_latency_get_landed_state(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 27); } /** * @brief Get field roll from high_latency message * * @return roll (centidegrees) */ static inline int16_t mavlink_msg_high_latency_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 12); } /** * @brief Get field pitch from high_latency message * * @return pitch (centidegrees) */ static inline int16_t mavlink_msg_high_latency_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 14); } /** * @brief Get field heading from high_latency message * * @return heading (centidegrees) */ static inline uint16_t mavlink_msg_high_latency_get_heading(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 16); } /** * @brief Get field throttle from high_latency message * * @return throttle (percentage) */ static inline int8_t mavlink_msg_high_latency_get_throttle(const mavlink_message_t* msg) { return _MAV_RETURN_int8_t(msg, 28); } /** * @brief Get field heading_sp from high_latency message * * @return heading setpoint (centidegrees) */ static inline int16_t mavlink_msg_high_latency_get_heading_sp(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 18); } /** * @brief Get field latitude from high_latency message * * @return Latitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_high_latency_get_latitude(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field longitude from high_latency message * * @return Longitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_high_latency_get_longitude(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field altitude_amsl from high_latency message * * @return Altitude above mean sea level (meters) */ static inline int16_t mavlink_msg_high_latency_get_altitude_amsl(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field altitude_sp from high_latency message * * @return Altitude setpoint relative to the home position (meters) */ static inline int16_t mavlink_msg_high_latency_get_altitude_sp(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field airspeed from high_latency message * * @return airspeed (m/s) */ static inline uint8_t mavlink_msg_high_latency_get_airspeed(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 29); } /** * @brief Get field airspeed_sp from high_latency message * * @return airspeed setpoint (m/s) */ static inline uint8_t mavlink_msg_high_latency_get_airspeed_sp(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 30); } /** * @brief Get field groundspeed from high_latency message * * @return groundspeed (m/s) */ static inline uint8_t mavlink_msg_high_latency_get_groundspeed(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 31); } /** * @brief Get field climb_rate from high_latency message * * @return climb rate (m/s) */ static inline int8_t mavlink_msg_high_latency_get_climb_rate(const mavlink_message_t* msg) { return _MAV_RETURN_int8_t(msg, 32); } /** * @brief Get field gps_nsat from high_latency message * * @return Number of satellites visible. If unknown, set to 255 */ static inline uint8_t mavlink_msg_high_latency_get_gps_nsat(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 33); } /** * @brief Get field gps_fix_type from high_latency message * * @return See the GPS_FIX_TYPE enum. */ static inline uint8_t mavlink_msg_high_latency_get_gps_fix_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 34); } /** * @brief Get field battery_remaining from high_latency message * * @return Remaining battery (percentage) */ static inline uint8_t mavlink_msg_high_latency_get_battery_remaining(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 35); } /** * @brief Get field temperature from high_latency message * * @return Autopilot temperature (degrees C) */ static inline int8_t mavlink_msg_high_latency_get_temperature(const mavlink_message_t* msg) { return _MAV_RETURN_int8_t(msg, 36); } /** * @brief Get field temperature_air from high_latency message * * @return Air temperature (degrees C) from airspeed sensor */ static inline int8_t mavlink_msg_high_latency_get_temperature_air(const mavlink_message_t* msg) { return _MAV_RETURN_int8_t(msg, 37); } /** * @brief Get field failsafe from high_latency message * * @return failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) */ static inline uint8_t mavlink_msg_high_latency_get_failsafe(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 38); } /** * @brief Get field wp_num from high_latency message * * @return current waypoint number */ static inline uint8_t mavlink_msg_high_latency_get_wp_num(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 39); } /** * @brief Get field wp_distance from high_latency message * * @return distance to target (meters) */ static inline uint16_t mavlink_msg_high_latency_get_wp_distance(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 24); } /** * @brief Decode a high_latency message into a struct * * @param msg The message to decode * @param high_latency C-struct to decode the message contents into */ static inline void mavlink_msg_high_latency_decode(const mavlink_message_t* msg, mavlink_high_latency_t* high_latency) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS high_latency->custom_mode = mavlink_msg_high_latency_get_custom_mode(msg); high_latency->latitude = mavlink_msg_high_latency_get_latitude(msg); high_latency->longitude = mavlink_msg_high_latency_get_longitude(msg); high_latency->roll = mavlink_msg_high_latency_get_roll(msg); high_latency->pitch = mavlink_msg_high_latency_get_pitch(msg); high_latency->heading = mavlink_msg_high_latency_get_heading(msg); high_latency->heading_sp = mavlink_msg_high_latency_get_heading_sp(msg); high_latency->altitude_amsl = mavlink_msg_high_latency_get_altitude_amsl(msg); high_latency->altitude_sp = mavlink_msg_high_latency_get_altitude_sp(msg); high_latency->wp_distance = mavlink_msg_high_latency_get_wp_distance(msg); high_latency->base_mode = mavlink_msg_high_latency_get_base_mode(msg); high_latency->landed_state = mavlink_msg_high_latency_get_landed_state(msg); high_latency->throttle = mavlink_msg_high_latency_get_throttle(msg); high_latency->airspeed = mavlink_msg_high_latency_get_airspeed(msg); high_latency->airspeed_sp = mavlink_msg_high_latency_get_airspeed_sp(msg); high_latency->groundspeed = mavlink_msg_high_latency_get_groundspeed(msg); high_latency->climb_rate = mavlink_msg_high_latency_get_climb_rate(msg); high_latency->gps_nsat = mavlink_msg_high_latency_get_gps_nsat(msg); high_latency->gps_fix_type = mavlink_msg_high_latency_get_gps_fix_type(msg); high_latency->battery_remaining = mavlink_msg_high_latency_get_battery_remaining(msg); high_latency->temperature = mavlink_msg_high_latency_get_temperature(msg); high_latency->temperature_air = mavlink_msg_high_latency_get_temperature_air(msg); high_latency->failsafe = mavlink_msg_high_latency_get_failsafe(msg); high_latency->wp_num = mavlink_msg_high_latency_get_wp_num(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_HIGH_LATENCY_LEN? msg->len : MAVLINK_MSG_ID_HIGH_LATENCY_LEN; memset(high_latency, 0, MAVLINK_MSG_ID_HIGH_LATENCY_LEN); memcpy(high_latency, _MAV_PAYLOAD(msg), len); #endif }