mavlink_msg_sys_status.h

00001 // MESSAGE SYS_STATUS PACKING
00002 
00003 #define MAVLINK_MSG_ID_SYS_STATUS 34
00004 
00005 typedef struct __mavlink_sys_status_t 
00006 {
00007     uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00008     uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
00009     uint8_t status; ///< System status flag, see MAV_STATUS ENUM
00010     uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00011     uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
00012     uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
00013     uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
00014 
00015 } mavlink_sys_status_t;
00016 
00017 
00018 
00019 /**
00020  * @brief Pack a sys_status message
00021  * @param system_id ID of this system
00022  * @param component_id ID of this component (e.g. 200 for IMU)
00023  * @param msg The MAVLink message to compress the data into
00024  *
00025  * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00026  * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
00027  * @param status System status flag, see MAV_STATUS ENUM
00028  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00029  * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
00030  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
00031  * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
00032  * @return length of the message in bytes (excluding serial stream start sign)
00033  */
00034 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)
00035 {
00036     uint16_t i = 0;
00037     msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
00038 
00039     i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00040     i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
00041     i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
00042     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
00043     i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
00044     i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
00045     i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
00046 
00047     return mavlink_finalize_message(msg, system_id, component_id, i);
00048 }
00049 
00050 /**
00051  * @brief Pack a sys_status message
00052  * @param system_id ID of this system
00053  * @param component_id ID of this component (e.g. 200 for IMU)
00054  * @param chan The MAVLink channel this message was sent over
00055  * @param msg The MAVLink message to compress the data into
00056  * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00057  * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
00058  * @param status System status flag, see MAV_STATUS ENUM
00059  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00060  * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
00061  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
00062  * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
00063  * @return length of the message in bytes (excluding serial stream start sign)
00064  */
00065 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)
00066 {
00067     uint16_t i = 0;
00068     msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
00069 
00070     i += put_uint8_t_by_index(mode, i, msg->payload); // System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00071     i += put_uint8_t_by_index(nav_mode, i, msg->payload); // Navigation mode, see MAV_NAV_MODE ENUM
00072     i += put_uint8_t_by_index(status, i, msg->payload); // System status flag, see MAV_STATUS ENUM
00073     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
00074     i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage, in millivolts (1 = 1 millivolt)
00075     i += put_uint16_t_by_index(battery_remaining, i, msg->payload); // Remaining battery energy: (0%: 0, 100%: 1000)
00076     i += put_uint16_t_by_index(packet_drop, i, msg->payload); // Dropped packets (packets that were corrupted on reception on the MAV)
00077 
00078     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00079 }
00080 
00081 /**
00082  * @brief Encode a sys_status struct into a message
00083  *
00084  * @param system_id ID of this system
00085  * @param component_id ID of this component (e.g. 200 for IMU)
00086  * @param msg The MAVLink message to compress the data into
00087  * @param sys_status C-struct to read the message contents from
00088  */
00089 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)
00090 {
00091     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);
00092 }
00093 
00094 /**
00095  * @brief Send a sys_status message
00096  * @param chan MAVLink channel to send the message
00097  *
00098  * @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00099  * @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
00100  * @param status System status flag, see MAV_STATUS ENUM
00101  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00102  * @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
00103  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
00104  * @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
00105  */
00106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00107 
00108 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)
00109 {
00110     mavlink_message_t msg;
00111     mavlink_msg_sys_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop);
00112     mavlink_send_uart(chan, &msg);
00113 }
00114 
00115 #endif
00116 // MESSAGE SYS_STATUS UNPACKING
00117 
00118 /**
00119  * @brief Get field mode from sys_status message
00120  *
00121  * @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
00122  */
00123 static inline uint8_t mavlink_msg_sys_status_get_mode(const mavlink_message_t* msg)
00124 {
00125     return (uint8_t)(msg->payload)[0];
00126 }
00127 
00128 /**
00129  * @brief Get field nav_mode from sys_status message
00130  *
00131  * @return Navigation mode, see MAV_NAV_MODE ENUM
00132  */
00133 static inline uint8_t mavlink_msg_sys_status_get_nav_mode(const mavlink_message_t* msg)
00134 {
00135     return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
00136 }
00137 
00138 /**
00139  * @brief Get field status from sys_status message
00140  *
00141  * @return System status flag, see MAV_STATUS ENUM
00142  */
00143 static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
00144 {
00145     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
00146 }
00147 
00148 /**
00149  * @brief Get field load from sys_status message
00150  *
00151  * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00152  */
00153 static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
00154 {
00155     generic_16bit r;
00156     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00157     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
00158     return (uint16_t)r.s;
00159 }
00160 
00161 /**
00162  * @brief Get field vbat from sys_status message
00163  *
00164  * @return Battery voltage, in millivolts (1 = 1 millivolt)
00165  */
00166 static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
00167 {
00168     generic_16bit r;
00169     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
00170     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
00171     return (uint16_t)r.s;
00172 }
00173 
00174 /**
00175  * @brief Get field battery_remaining from sys_status message
00176  *
00177  * @return Remaining battery energy: (0%: 0, 100%: 1000)
00178  */
00179 static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
00180 {
00181     generic_16bit r;
00182     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00183     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00184     return (uint16_t)r.s;
00185 }
00186 
00187 /**
00188  * @brief Get field packet_drop from sys_status message
00189  *
00190  * @return Dropped packets (packets that were corrupted on reception on the MAV)
00191  */
00192 static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
00193 {
00194     generic_16bit r;
00195     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00196     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00197     return (uint16_t)r.s;
00198 }
00199 
00200 /**
00201  * @brief Decode a sys_status message into a struct
00202  *
00203  * @param msg The message to decode
00204  * @param sys_status C-struct to decode the message contents into
00205  */
00206 static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
00207 {
00208     sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
00209     sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
00210     sys_status->status = mavlink_msg_sys_status_get_status(msg);
00211     sys_status->load = mavlink_msg_sys_status_get_load(msg);
00212     sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
00213     sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
00214     sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
00215 }