Merged master into safelinksafelink

1 files changed, 42 insertions, 0 deletions

diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
index febda6cdc..6fc2c83fc 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
@@ -201,6 +201,48 @@ static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t
 #endif
 }
 
+#if MAVLINK_MSG_ID_FENCE_POINT_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_fence_point_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_float(buf, 0, lat);
+	_mav_put_float(buf, 4, lng);
+	_mav_put_uint8_t(buf, 8, target_system);
+	_mav_put_uint8_t(buf, 9, target_component);
+	_mav_put_uint8_t(buf, 10, idx);
+	_mav_put_uint8_t(buf, 11, count);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
+#endif
+#else
+	mavlink_fence_point_t *packet = (mavlink_fence_point_t *)msgbuf;
+	packet->lat = lat;
+	packet->lng = lng;
+	packet->target_system = target_system;
+	packet->target_component = target_component;
+	packet->idx = idx;
+	packet->count = count;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
+#endif
+#endif
+}
+#endif
+
 #endif
 
 // MESSAGE FENCE_POINT UNPACKING