diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h | 61 |
1 files changed, 47 insertions, 14 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h index 0f3d03c0a..8e9740e82 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h @@ -16,6 +16,9 @@ typedef struct __mavlink_radio_t #define MAVLINK_MSG_ID_RADIO_LEN 9 #define MAVLINK_MSG_ID_166_LEN 9 +#define MAVLINK_MSG_ID_RADIO_CRC 21 +#define MAVLINK_MSG_ID_166_CRC 21 + #define MAVLINK_MESSAGE_INFO_RADIO { \ @@ -51,7 +54,7 @@ static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t compone uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; + char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); @@ -60,7 +63,7 @@ static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t compone _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; @@ -71,18 +74,22 @@ static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t compone packet.noise = noise; packet.remnoise = remnoise; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RADIO; - return mavlink_finalize_message(msg, system_id, component_id, 9, 21); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN); +#endif } /** * @brief Pack a radio 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 chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param rssi local signal strength * @param remrssi remote signal strength @@ -98,7 +105,7 @@ static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t co uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; + char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); @@ -107,7 +114,7 @@ static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t co _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN); #else mavlink_radio_t packet; packet.rxerrors = rxerrors; @@ -118,15 +125,19 @@ static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t co packet.noise = noise; packet.remnoise = remnoise; - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RADIO; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 21); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN); +#endif } /** - * @brief Encode a radio struct into a message + * @brief Encode a radio struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) @@ -139,6 +150,20 @@ static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t compo } /** + * @brief Encode a radio 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 radio C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio) +{ + return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed); +} + +/** * @brief Send a radio message * @param chan MAVLink channel to send the message * @@ -155,7 +180,7 @@ static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t compo static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[9]; + char buf[MAVLINK_MSG_ID_RADIO_LEN]; _mav_put_uint16_t(buf, 0, rxerrors); _mav_put_uint16_t(buf, 2, fixed); _mav_put_uint8_t(buf, 4, rssi); @@ -164,7 +189,11 @@ static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, _mav_put_uint8_t(buf, 7, noise); _mav_put_uint8_t(buf, 8, remnoise); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, 9, 21); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN); +#endif #else mavlink_radio_t packet; packet.rxerrors = rxerrors; @@ -175,7 +204,11 @@ static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, packet.noise = noise; packet.remnoise = remnoise; - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, 9, 21); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN); +#endif #endif } @@ -271,6 +304,6 @@ static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlin radio->noise = mavlink_msg_radio_get_noise(msg); radio->remnoise = mavlink_msg_radio_get_remnoise(msg); #else - memcpy(radio, _MAV_PAYLOAD(msg), 9); + memcpy(radio, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RADIO_LEN); #endif } |