mavlink: Updated protocol files

1 files changed, 34 insertions, 0 deletions

diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
index cffc7d7e7..634e3f81d 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
@@ -162,6 +162,40 @@ static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type,
 #endif
 }
 
+#if MAVLINK_MSG_ID_DATA96_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  is usually the receive buffer for the channel, and allows a reply to an
+  incoming message with minimum stack space usage.
+ */
+static inline void mavlink_msg_data96_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t type, uint8_t len, const uint8_t *data)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_uint8_t(buf, 0, type);
+	_mav_put_uint8_t(buf, 1, len);
+	_mav_put_uint8_t_array(buf, 2, data, 96);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN);
+#endif
+#else
+	mavlink_data96_t *packet = (mavlink_data96_t *)msgbuf;
+	packet->type = type;
+	packet->len = len;
+	mav_array_memcpy(packet->data, data, sizeof(uint8_t)*96);
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN);
+#endif
+#endif
+}
+#endif
+
 #endif
 
 // MESSAGE DATA96 UNPACKING