LibrePilot/flight/libraries/mavlink/v1.0/common/mavlink_msg_heartbeat.h

// MESSAGE HEARTBEAT PACKING

#define MAVLINK_MSG_ID_HEARTBEAT 0

typedef struct __mavlink_heartbeat_t {
    uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags.
    uint8_t  type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
    uint8_t  autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM
    uint8_t  base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
    uint8_t  system_status; ///< System status flag, see MAV_STATE ENUM
    uint8_t  mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
} mavlink_heartbeat_t;

#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
#define MAVLINK_MSG_ID_0_LEN         9


#define MAVLINK_MESSAGE_INFO_HEARTBEAT \
    { \
        "HEARTBEAT", \
        6, \
        { \
            { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
            { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
            { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
            { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
            { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
            { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
        } \
    }


/**
 * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode A bitfield for use for autopilot-specific flags.
 * @param system_status System status flag, see MAV_STATE ENUM
 * @return length of the message in bytes (excluding serial stream start sign)
 */
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, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[9];
    _mav_put_uint32_t(buf, 0, custom_mode);
    _mav_put_uint8_t(buf, 4, type);
    _mav_put_uint8_t(buf, 5, autopilot);
    _mav_put_uint8_t(buf, 6, base_mode);
    _mav_put_uint8_t(buf, 7, system_status);
    _mav_put_uint8_t(buf, 8, 3);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
    mavlink_heartbeat_t packet;
    packet.custom_mode     = custom_mode;
    packet.type = type;
    packet.autopilot       = autopilot;
    packet.base_mode       = base_mode;
    packet.system_status   = system_status;
    packet.mavlink_version = 3;
    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);

#endif

    msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
    return mavlink_finalize_message(msg, system_id, component_id, 9, 50);
}

/**
 * @brief Pack a heartbeat 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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode A bitfield for use for autopilot-specific flags.
 * @param system_status System status flag, see MAV_STATE ENUM
 * @return length of the message in bytes (excluding serial stream start sign)
 */
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, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[9];
    _mav_put_uint32_t(buf, 0, custom_mode);
    _mav_put_uint8_t(buf, 4, type);
    _mav_put_uint8_t(buf, 5, autopilot);
    _mav_put_uint8_t(buf, 6, base_mode);
    _mav_put_uint8_t(buf, 7, system_status);
    _mav_put_uint8_t(buf, 8, 3);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
#else
    mavlink_heartbeat_t packet;
    packet.custom_mode     = custom_mode;
    packet.type = type;
    packet.autopilot       = autopilot;
    packet.base_mode       = base_mode;
    packet.system_status   = system_status;
    packet.mavlink_version = 3;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
#endif

    msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 50);
}

/**
 * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
 */
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)
{
    return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
}

/**
 * @brief Send a heartbeat message
 * @param chan MAVLink channel to send the message
 *
 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 * @param custom_mode A bitfield for use for autopilot-specific flags.
 * @param system_status System status flag, see MAV_STATE ENUM
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[9];
    _mav_put_uint32_t(buf, 0, custom_mode);
    _mav_put_uint8_t(buf, 4, type);
    _mav_put_uint8_t(buf, 5, autopilot);
    _mav_put_uint8_t(buf, 6, base_mode);
    _mav_put_uint8_t(buf, 7, system_status);
    _mav_put_uint8_t(buf, 8, 3);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 9, 50);
#else
    mavlink_heartbeat_t packet;
    packet.custom_mode     = custom_mode;
    packet.type = type;
    packet.autopilot       = autopilot;
    packet.base_mode       = base_mode;
    packet.system_status   = system_status;
    packet.mavlink_version = 3;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 9, 50);
#endif
}

#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

// MESSAGE HEARTBEAT UNPACKING


/**
 * @brief Get field type from heartbeat message
 *
 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 */
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 4);
}

/**
 * @brief Get field autopilot from heartbeat message
 *
 * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 */
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 5);
}

/**
 * @brief Get field base_mode from heartbeat message
 *
 * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
 */
static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 6);
}

/**
 * @brief Get field custom_mode from heartbeat message
 *
 * @return A bitfield for use for autopilot-specific flags.
 */
static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint32_t(msg, 0);
}

/**
 * @brief Get field system_status from heartbeat message
 *
 * @return System status flag, see MAV_STATE ENUM
 */
static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 7);
}

/**
 * @brief Get field mavlink_version from heartbeat message
 *
 * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
 */
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 8);
}

/**
 * @brief Decode a heartbeat message into a struct
 *
 * @param msg The message to decode
 * @param heartbeat C-struct to decode the message contents into
 */
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t *msg, mavlink_heartbeat_t *heartbeat)
{
#if MAVLINK_NEED_BYTE_SWAP
    heartbeat->custom_mode     = mavlink_msg_heartbeat_get_custom_mode(msg);
    heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
    heartbeat->autopilot       = mavlink_msg_heartbeat_get_autopilot(msg);
    heartbeat->base_mode       = mavlink_msg_heartbeat_get_base_mode(msg);
    heartbeat->system_status   = mavlink_msg_heartbeat_get_system_status(msg);
    heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
#else
    memcpy(heartbeat, _MAV_PAYLOAD(msg), 9);
#endif
}