mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-14 21:23:52 +01:00
409 lines
27 KiB
C
409 lines
27 KiB
C
// MESSAGE SYS_STATUS PACKING
|
|
|
|
#define MAVLINK_MSG_ID_SYS_STATUS 1
|
|
|
|
typedef struct __mavlink_sys_status_t {
|
|
uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
|
uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt)
|
|
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
uint16_t drop_rate_comm; ///< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
uint16_t errors_comm; ///< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
uint16_t errors_count1; ///< Autopilot-specific errors
|
|
uint16_t errors_count2; ///< Autopilot-specific errors
|
|
uint16_t errors_count3; ///< Autopilot-specific errors
|
|
uint16_t errors_count4; ///< Autopilot-specific errors
|
|
int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
} mavlink_sys_status_t;
|
|
|
|
#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
|
|
#define MAVLINK_MSG_ID_1_LEN 31
|
|
|
|
|
|
#define MAVLINK_MESSAGE_INFO_SYS_STATUS \
|
|
{ \
|
|
"SYS_STATUS", \
|
|
13, \
|
|
{ \
|
|
{ "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
|
|
{ "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
|
|
{ "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
|
|
{ "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
|
|
{ "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
|
|
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
|
|
{ "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
|
|
{ "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
|
|
{ "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
|
|
{ "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
|
|
{ "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
|
|
{ "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
|
|
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
|
|
} \
|
|
}
|
|
|
|
|
|
/**
|
|
* @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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
|
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
|
|
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_count1 Autopilot-specific errors
|
|
* @param errors_count2 Autopilot-specific errors
|
|
* @param errors_count3 Autopilot-specific errors
|
|
* @param errors_count4 Autopilot-specific errors
|
|
* @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,
|
|
uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[31];
|
|
_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
|
|
_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
|
|
_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
|
|
_mav_put_uint16_t(buf, 12, load);
|
|
_mav_put_uint16_t(buf, 14, voltage_battery);
|
|
_mav_put_int16_t(buf, 16, current_battery);
|
|
_mav_put_uint16_t(buf, 18, drop_rate_comm);
|
|
_mav_put_uint16_t(buf, 20, errors_comm);
|
|
_mav_put_uint16_t(buf, 22, errors_count1);
|
|
_mav_put_uint16_t(buf, 24, errors_count2);
|
|
_mav_put_uint16_t(buf, 26, errors_count3);
|
|
_mav_put_uint16_t(buf, 28, errors_count4);
|
|
_mav_put_int8_t(buf, 30, battery_remaining);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31);
|
|
#else
|
|
mavlink_sys_status_t packet;
|
|
packet.onboard_control_sensors_present = onboard_control_sensors_present;
|
|
packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
|
|
packet.onboard_control_sensors_health = onboard_control_sensors_health;
|
|
packet.load = load;
|
|
packet.voltage_battery = voltage_battery;
|
|
packet.current_battery = current_battery;
|
|
packet.drop_rate_comm = drop_rate_comm;
|
|
packet.errors_comm = errors_comm;
|
|
packet.errors_count1 = errors_count1;
|
|
packet.errors_count2 = errors_count2;
|
|
packet.errors_count3 = errors_count3;
|
|
packet.errors_count4 = errors_count4;
|
|
packet.battery_remaining = battery_remaining;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31);
|
|
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
|
|
return mavlink_finalize_message(msg, system_id, component_id, 31, 124);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a sys_status 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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
|
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
|
|
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_count1 Autopilot-specific errors
|
|
* @param errors_count2 Autopilot-specific errors
|
|
* @param errors_count3 Autopilot-specific errors
|
|
* @param errors_count4 Autopilot-specific errors
|
|
* @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,
|
|
uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[31];
|
|
_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
|
|
_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
|
|
_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
|
|
_mav_put_uint16_t(buf, 12, load);
|
|
_mav_put_uint16_t(buf, 14, voltage_battery);
|
|
_mav_put_int16_t(buf, 16, current_battery);
|
|
_mav_put_uint16_t(buf, 18, drop_rate_comm);
|
|
_mav_put_uint16_t(buf, 20, errors_comm);
|
|
_mav_put_uint16_t(buf, 22, errors_count1);
|
|
_mav_put_uint16_t(buf, 24, errors_count2);
|
|
_mav_put_uint16_t(buf, 26, errors_count3);
|
|
_mav_put_uint16_t(buf, 28, errors_count4);
|
|
_mav_put_int8_t(buf, 30, battery_remaining);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 31);
|
|
#else
|
|
mavlink_sys_status_t packet;
|
|
packet.onboard_control_sensors_present = onboard_control_sensors_present;
|
|
packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
|
|
packet.onboard_control_sensors_health = onboard_control_sensors_health;
|
|
packet.load = load;
|
|
packet.voltage_battery = voltage_battery;
|
|
packet.current_battery = current_battery;
|
|
packet.drop_rate_comm = drop_rate_comm;
|
|
packet.errors_comm = errors_comm;
|
|
packet.errors_count1 = errors_count1;
|
|
packet.errors_count2 = errors_count2;
|
|
packet.errors_count3 = errors_count3;
|
|
packet.errors_count4 = errors_count4;
|
|
packet.battery_remaining = battery_remaining;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 31);
|
|
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 31, 124);
|
|
}
|
|
|
|
/**
|
|
* @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->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a sys_status message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
|
|
* @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
|
|
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
* @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
* @param errors_count1 Autopilot-specific errors
|
|
* @param errors_count2 Autopilot-specific errors
|
|
* @param errors_count3 Autopilot-specific errors
|
|
* @param errors_count4 Autopilot-specific errors
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[31];
|
|
_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
|
|
_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
|
|
_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
|
|
_mav_put_uint16_t(buf, 12, load);
|
|
_mav_put_uint16_t(buf, 14, voltage_battery);
|
|
_mav_put_int16_t(buf, 16, current_battery);
|
|
_mav_put_uint16_t(buf, 18, drop_rate_comm);
|
|
_mav_put_uint16_t(buf, 20, errors_comm);
|
|
_mav_put_uint16_t(buf, 22, errors_count1);
|
|
_mav_put_uint16_t(buf, 24, errors_count2);
|
|
_mav_put_uint16_t(buf, 26, errors_count3);
|
|
_mav_put_uint16_t(buf, 28, errors_count4);
|
|
_mav_put_int8_t(buf, 30, battery_remaining);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 31, 124);
|
|
#else
|
|
mavlink_sys_status_t packet;
|
|
packet.onboard_control_sensors_present = onboard_control_sensors_present;
|
|
packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
|
|
packet.onboard_control_sensors_health = onboard_control_sensors_health;
|
|
packet.load = load;
|
|
packet.voltage_battery = voltage_battery;
|
|
packet.current_battery = current_battery;
|
|
packet.drop_rate_comm = drop_rate_comm;
|
|
packet.errors_comm = errors_comm;
|
|
packet.errors_count1 = errors_count1;
|
|
packet.errors_count2 = errors_count2;
|
|
packet.errors_count3 = errors_count3;
|
|
packet.errors_count4 = errors_count4;
|
|
packet.battery_remaining = battery_remaining;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 31, 124);
|
|
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
}
|
|
|
|
#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
// MESSAGE SYS_STATUS UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_present from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_enabled from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field onboard_control_sensors_health from sys_status message
|
|
*
|
|
* @return Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
|
|
*/
|
|
static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @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)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field voltage_battery from sys_status message
|
|
*
|
|
* @return Battery voltage, in millivolts (1 = 1 millivolt)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field current_battery from sys_status message
|
|
*
|
|
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
|
|
*/
|
|
static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field battery_remaining from sys_status message
|
|
*
|
|
* @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
|
|
*/
|
|
static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 30);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field drop_rate_comm from sys_status message
|
|
*
|
|
* @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_comm from sys_status message
|
|
*
|
|
* @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count1 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count2 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count3 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 26);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field errors_count4 from sys_status message
|
|
*
|
|
* @return Autopilot-specific errors
|
|
*/
|
|
static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
|
|
sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
|
|
sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
|
|
sys_status->load = mavlink_msg_sys_status_get_load(msg);
|
|
sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
|
|
sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
|
|
sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
|
|
sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
|
|
sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
|
|
sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
|
|
sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
|
|
sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
|
|
sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
|
|
#else
|
|
memcpy(sys_status, _MAV_PAYLOAD(msg), 31);
|
|
#endif
|
|
}
|