#pragma once // MESSAGE SERVO_OUTPUT_RAW PACKING #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36 MAVPACKED( typedef struct __mavlink_servo_output_raw_t { uint32_t time_usec; /*< Timestamp (microseconds since system boot)*/ uint16_t servo1_raw; /*< Servo output 1 value, in microseconds*/ uint16_t servo2_raw; /*< Servo output 2 value, in microseconds*/ uint16_t servo3_raw; /*< Servo output 3 value, in microseconds*/ uint16_t servo4_raw; /*< Servo output 4 value, in microseconds*/ uint16_t servo5_raw; /*< Servo output 5 value, in microseconds*/ uint16_t servo6_raw; /*< Servo output 6 value, in microseconds*/ uint16_t servo7_raw; /*< Servo output 7 value, in microseconds*/ uint16_t servo8_raw; /*< Servo output 8 value, in microseconds*/ uint8_t port; /*< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.*/ uint16_t servo9_raw; /*< Servo output 9 value, in microseconds*/ uint16_t servo10_raw; /*< Servo output 10 value, in microseconds*/ uint16_t servo11_raw; /*< Servo output 11 value, in microseconds*/ uint16_t servo12_raw; /*< Servo output 12 value, in microseconds*/ uint16_t servo13_raw; /*< Servo output 13 value, in microseconds*/ uint16_t servo14_raw; /*< Servo output 14 value, in microseconds*/ uint16_t servo15_raw; /*< Servo output 15 value, in microseconds*/ uint16_t servo16_raw; /*< Servo output 16 value, in microseconds*/ }) mavlink_servo_output_raw_t; #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 37 #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN 21 #define MAVLINK_MSG_ID_36_LEN 37 #define MAVLINK_MSG_ID_36_MIN_LEN 21 #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC 222 #define MAVLINK_MSG_ID_36_CRC 222 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ 36, \ "SERVO_OUTPUT_RAW", \ 18, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ { "servo9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_servo_output_raw_t, servo9_raw) }, \ { "servo10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 23, offsetof(mavlink_servo_output_raw_t, servo10_raw) }, \ { "servo11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 25, offsetof(mavlink_servo_output_raw_t, servo11_raw) }, \ { "servo12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 27, offsetof(mavlink_servo_output_raw_t, servo12_raw) }, \ { "servo13_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 29, offsetof(mavlink_servo_output_raw_t, servo13_raw) }, \ { "servo14_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 31, offsetof(mavlink_servo_output_raw_t, servo14_raw) }, \ { "servo15_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 33, offsetof(mavlink_servo_output_raw_t, servo15_raw) }, \ { "servo16_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_servo_output_raw_t, servo16_raw) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ "SERVO_OUTPUT_RAW", \ 18, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ { "servo9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_servo_output_raw_t, servo9_raw) }, \ { "servo10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 23, offsetof(mavlink_servo_output_raw_t, servo10_raw) }, \ { "servo11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 25, offsetof(mavlink_servo_output_raw_t, servo11_raw) }, \ { "servo12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 27, offsetof(mavlink_servo_output_raw_t, servo12_raw) }, \ { "servo13_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 29, offsetof(mavlink_servo_output_raw_t, servo13_raw) }, \ { "servo14_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 31, offsetof(mavlink_servo_output_raw_t, servo14_raw) }, \ { "servo15_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 33, offsetof(mavlink_servo_output_raw_t, servo15_raw) }, \ { "servo16_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_servo_output_raw_t, servo16_raw) }, \ } \ } #endif /** * @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds * @param servo9_raw Servo output 9 value, in microseconds * @param servo10_raw Servo output 10 value, in microseconds * @param servo11_raw Servo output 11 value, in microseconds * @param servo12_raw Servo output 12 value, in microseconds * @param servo13_raw Servo output 13 value, in microseconds * @param servo14_raw Servo output 14 value, in microseconds * @param servo15_raw Servo output 15 value, in microseconds * @param servo16_raw Servo output 16 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw, uint16_t servo9_raw, uint16_t servo10_raw, uint16_t servo11_raw, uint16_t servo12_raw, uint16_t servo13_raw, uint16_t servo14_raw, uint16_t servo15_raw, uint16_t servo16_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN]; _mav_put_uint32_t(buf, 0, time_usec); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); _mav_put_uint16_t(buf, 21, servo9_raw); _mav_put_uint16_t(buf, 23, servo10_raw); _mav_put_uint16_t(buf, 25, servo11_raw); _mav_put_uint16_t(buf, 27, servo12_raw); _mav_put_uint16_t(buf, 29, servo13_raw); _mav_put_uint16_t(buf, 31, servo14_raw); _mav_put_uint16_t(buf, 33, servo15_raw); _mav_put_uint16_t(buf, 35, servo16_raw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); #else mavlink_servo_output_raw_t packet; packet.time_usec = time_usec; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; packet.servo9_raw = servo9_raw; packet.servo10_raw = servo10_raw; packet.servo11_raw = servo11_raw; packet.servo12_raw = servo12_raw; packet.servo13_raw = servo13_raw; packet.servo14_raw = servo14_raw; packet.servo15_raw = servo15_raw; packet.servo16_raw = servo16_raw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); } /** * @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds * @param servo9_raw Servo output 9 value, in microseconds * @param servo10_raw Servo output 10 value, in microseconds * @param servo11_raw Servo output 11 value, in microseconds * @param servo12_raw Servo output 12 value, in microseconds * @param servo13_raw Servo output 13 value, in microseconds * @param servo14_raw Servo output 14 value, in microseconds * @param servo15_raw Servo output 15 value, in microseconds * @param servo16_raw Servo output 16 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_usec,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw,uint16_t servo9_raw,uint16_t servo10_raw,uint16_t servo11_raw,uint16_t servo12_raw,uint16_t servo13_raw,uint16_t servo14_raw,uint16_t servo15_raw,uint16_t servo16_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN]; _mav_put_uint32_t(buf, 0, time_usec); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); _mav_put_uint16_t(buf, 21, servo9_raw); _mav_put_uint16_t(buf, 23, servo10_raw); _mav_put_uint16_t(buf, 25, servo11_raw); _mav_put_uint16_t(buf, 27, servo12_raw); _mav_put_uint16_t(buf, 29, servo13_raw); _mav_put_uint16_t(buf, 31, servo14_raw); _mav_put_uint16_t(buf, 33, servo15_raw); _mav_put_uint16_t(buf, 35, servo16_raw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); #else mavlink_servo_output_raw_t packet; packet.time_usec = time_usec; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; packet.servo9_raw = servo9_raw; packet.servo10_raw = servo10_raw; packet.servo11_raw = servo11_raw; packet.servo12_raw = servo12_raw; packet.servo13_raw = servo13_raw; packet.servo14_raw = servo14_raw; packet.servo15_raw = servo15_raw; packet.servo16_raw = servo16_raw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); } /** * @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) { return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw, servo_output_raw->servo9_raw, servo_output_raw->servo10_raw, servo_output_raw->servo11_raw, servo_output_raw->servo12_raw, servo_output_raw->servo13_raw, servo_output_raw->servo14_raw, servo_output_raw->servo15_raw, servo_output_raw->servo16_raw); } /** * @brief Encode a servo_output_raw 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 servo_output_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_servo_output_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) { return mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, chan, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw, servo_output_raw->servo9_raw, servo_output_raw->servo10_raw, servo_output_raw->servo11_raw, servo_output_raw->servo12_raw, servo_output_raw->servo13_raw, servo_output_raw->servo14_raw, servo_output_raw->servo15_raw, servo_output_raw->servo16_raw); } /** * @brief Send a servo_output_raw message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds * @param servo9_raw Servo output 9 value, in microseconds * @param servo10_raw Servo output 10 value, in microseconds * @param servo11_raw Servo output 11 value, in microseconds * @param servo12_raw Servo output 12 value, in microseconds * @param servo13_raw Servo output 13 value, in microseconds * @param servo14_raw Servo output 14 value, in microseconds * @param servo15_raw Servo output 15 value, in microseconds * @param servo16_raw Servo output 16 value, in microseconds */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw, uint16_t servo9_raw, uint16_t servo10_raw, uint16_t servo11_raw, uint16_t servo12_raw, uint16_t servo13_raw, uint16_t servo14_raw, uint16_t servo15_raw, uint16_t servo16_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN]; _mav_put_uint32_t(buf, 0, time_usec); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); _mav_put_uint16_t(buf, 21, servo9_raw); _mav_put_uint16_t(buf, 23, servo10_raw); _mav_put_uint16_t(buf, 25, servo11_raw); _mav_put_uint16_t(buf, 27, servo12_raw); _mav_put_uint16_t(buf, 29, servo13_raw); _mav_put_uint16_t(buf, 31, servo14_raw); _mav_put_uint16_t(buf, 33, servo15_raw); _mav_put_uint16_t(buf, 35, servo16_raw); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); #else mavlink_servo_output_raw_t packet; packet.time_usec = time_usec; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; packet.servo9_raw = servo9_raw; packet.servo10_raw = servo10_raw; packet.servo11_raw = servo11_raw; packet.servo12_raw = servo12_raw; packet.servo13_raw = servo13_raw; packet.servo14_raw = servo14_raw; packet.servo15_raw = servo15_raw; packet.servo16_raw = servo16_raw; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); #endif } /** * @brief Send a servo_output_raw message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_servo_output_raw_send_struct(mavlink_channel_t chan, const mavlink_servo_output_raw_t* servo_output_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_servo_output_raw_send(chan, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw, servo_output_raw->servo9_raw, servo_output_raw->servo10_raw, servo_output_raw->servo11_raw, servo_output_raw->servo12_raw, servo_output_raw->servo13_raw, servo_output_raw->servo14_raw, servo_output_raw->servo15_raw, servo_output_raw->servo16_raw); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)servo_output_raw, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); #endif } #if MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_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_servo_output_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw, uint16_t servo9_raw, uint16_t servo10_raw, uint16_t servo11_raw, uint16_t servo12_raw, uint16_t servo13_raw, uint16_t servo14_raw, uint16_t servo15_raw, uint16_t servo16_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_usec); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); _mav_put_uint16_t(buf, 21, servo9_raw); _mav_put_uint16_t(buf, 23, servo10_raw); _mav_put_uint16_t(buf, 25, servo11_raw); _mav_put_uint16_t(buf, 27, servo12_raw); _mav_put_uint16_t(buf, 29, servo13_raw); _mav_put_uint16_t(buf, 31, servo14_raw); _mav_put_uint16_t(buf, 33, servo15_raw); _mav_put_uint16_t(buf, 35, servo16_raw); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); #else mavlink_servo_output_raw_t *packet = (mavlink_servo_output_raw_t *)msgbuf; packet->time_usec = time_usec; packet->servo1_raw = servo1_raw; packet->servo2_raw = servo2_raw; packet->servo3_raw = servo3_raw; packet->servo4_raw = servo4_raw; packet->servo5_raw = servo5_raw; packet->servo6_raw = servo6_raw; packet->servo7_raw = servo7_raw; packet->servo8_raw = servo8_raw; packet->port = port; packet->servo9_raw = servo9_raw; packet->servo10_raw = servo10_raw; packet->servo11_raw = servo11_raw; packet->servo12_raw = servo12_raw; packet->servo13_raw = servo13_raw; packet->servo14_raw = servo14_raw; packet->servo15_raw = servo15_raw; packet->servo16_raw = servo16_raw; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_MIN_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC); #endif } #endif #endif // MESSAGE SERVO_OUTPUT_RAW UNPACKING /** * @brief Get field time_usec from servo_output_raw message * * @return Timestamp (microseconds since system boot) */ static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field port from servo_output_raw message * * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. */ static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 20); } /** * @brief Get field servo1_raw from servo_output_raw message * * @return Servo output 1 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 4); } /** * @brief Get field servo2_raw from servo_output_raw message * * @return Servo output 2 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 6); } /** * @brief Get field servo3_raw from servo_output_raw message * * @return Servo output 3 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 8); } /** * @brief Get field servo4_raw from servo_output_raw message * * @return Servo output 4 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 10); } /** * @brief Get field servo5_raw from servo_output_raw message * * @return Servo output 5 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 12); } /** * @brief Get field servo6_raw from servo_output_raw message * * @return Servo output 6 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 14); } /** * @brief Get field servo7_raw from servo_output_raw message * * @return Servo output 7 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 16); } /** * @brief Get field servo8_raw from servo_output_raw message * * @return Servo output 8 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 18); } /** * @brief Get field servo9_raw from servo_output_raw message * * @return Servo output 9 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo9_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 21); } /** * @brief Get field servo10_raw from servo_output_raw message * * @return Servo output 10 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo10_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 23); } /** * @brief Get field servo11_raw from servo_output_raw message * * @return Servo output 11 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo11_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 25); } /** * @brief Get field servo12_raw from servo_output_raw message * * @return Servo output 12 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo12_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 27); } /** * @brief Get field servo13_raw from servo_output_raw message * * @return Servo output 13 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo13_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 29); } /** * @brief Get field servo14_raw from servo_output_raw message * * @return Servo output 14 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo14_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 31); } /** * @brief Get field servo15_raw from servo_output_raw message * * @return Servo output 15 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo15_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 33); } /** * @brief Get field servo16_raw from servo_output_raw message * * @return Servo output 16 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo16_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 35); } /** * @brief Decode a servo_output_raw message into a struct * * @param msg The message to decode * @param servo_output_raw C-struct to decode the message contents into */ static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS servo_output_raw->time_usec = mavlink_msg_servo_output_raw_get_time_usec(msg); servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg); servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg); servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg); servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg); servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg); servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg); servo_output_raw->servo9_raw = mavlink_msg_servo_output_raw_get_servo9_raw(msg); servo_output_raw->servo10_raw = mavlink_msg_servo_output_raw_get_servo10_raw(msg); servo_output_raw->servo11_raw = mavlink_msg_servo_output_raw_get_servo11_raw(msg); servo_output_raw->servo12_raw = mavlink_msg_servo_output_raw_get_servo12_raw(msg); servo_output_raw->servo13_raw = mavlink_msg_servo_output_raw_get_servo13_raw(msg); servo_output_raw->servo14_raw = mavlink_msg_servo_output_raw_get_servo14_raw(msg); servo_output_raw->servo15_raw = mavlink_msg_servo_output_raw_get_servo15_raw(msg); servo_output_raw->servo16_raw = mavlink_msg_servo_output_raw_get_servo16_raw(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN? msg->len : MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN; memset(servo_output_raw, 0, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN); memcpy(servo_output_raw, _MAV_PAYLOAD(msg), len); #endif }