Diff: MAVlink/include/common/mavlink_msg_sys_status.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_sys_status.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,215 @@
+// MESSAGE SYS_STATUS PACKING
+
+#define MAVLINK_MSG_ID_SYS_STATUS 34
+
+typedef struct __mavlink_sys_status_t 
+{
+    uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+    uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
+    uint8_t status; ///< System status flag, see MAV_STATUS ENUM
+    uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+    uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
+    uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
+    uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
+
+} mavlink_sys_status_t;
+
+
+
+/**
+ * @brief Pack a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+ * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
+ * @param status System status flag, see MAV_STATUS ENUM
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
+ * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
+
+    i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+    i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
+    i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
+    i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+    i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
+    i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
+    i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a sys_status message
+ * @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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+ * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
+ * @param status System status flag, see MAV_STATUS ENUM
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
+ * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
+
+    i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+    i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
+    i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
+    i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+    i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
+    i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
+    i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a sys_status struct into a 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 sys_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
+{
+    return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop);
+}
+
+/**
+ * @brief Send a sys_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+ * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
+ * @param status System status flag, see MAV_STATUS ENUM
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
+ * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
+ * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
+{
+    mavlink_message_t msg;
+    mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE SYS_STATUS UNPACKING
+
+/**
+ * @brief Get field mode from sys_status message
+ *
+ * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
+{
+    return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field nav_mode from sys_status message
+ *
+ * @return Navigation mode, see MAV_NAV_MODE ENUM
+ */
+static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
+{
+    return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field status from sys_status message
+ *
+ * @return System status flag, see MAV_STATUS ENUM
+ */
+static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
+{
+    return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field load from sys_status message
+ *
+ * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ */
+static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
+{
+    generic_16bit r;
+    r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+    r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
+    return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field vbat from sys_status message
+ *
+ * @return Battery voltage, in millivolts (1 = 1 millivolt)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
+{
+    generic_16bit r;
+    r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
+    r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
+    return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field battery_remaining from sys_status message
+ *
+ * @return Remaining battery energy: (0%: 0, 100%: 1000)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
+{
+    generic_16bit r;
+    r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+    r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+    return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field packet_drop from sys_status message
+ *
+ * @return Dropped packets (packets that were corrupted on reception on the MAV)
+ */
+static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
+{
+    generic_16bit r;
+    r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+    r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+    return (uint16_t)r.s;
+}
+
+/**
+ * @brief Decode a sys_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param sys_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
+{
+    sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
+    sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
+    sys_status->status = mavlink_msg_sys_status_get_status(msg);
+    sys_status->load = mavlink_msg_sys_status_get_load(msg);
+    sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
+    sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
+    sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
+}