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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-13 09:41:23 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-13 23:27:26 +0200 |
commit | 14dae529f0b2a41ce7441871f30a9da462be8e72 (patch) | |
tree | 41bef0bbff48e97ab4ed2e019dc3939ed31a735e /mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h | |
parent | f183ddad8c62b47bbed6116d07d4b1ac50871557 (diff) | |
download | px4-firmware-14dae529f0b2a41ce7441871f30a9da462be8e72.tar.gz px4-firmware-14dae529f0b2a41ce7441871f30a9da462be8e72.tar.bz2 px4-firmware-14dae529f0b2a41ce7441871f30a9da462be8e72.zip |
mavlink: Updated protocol files
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h')
-rw-r--r-- | mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h | 42 |
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 |