Merged master into safelinksafelink

1 files changed, 42 insertions, 0 deletions

diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
index 5b1093a3d..b130ee50b 100644
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
+++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
@@ -201,6 +201,48 @@ static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspe
 #endif
 }
 
+#if MAVLINK_MSG_ID_VFR_HUD_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_vfr_hud_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_float(buf, 0, airspeed);
+	_mav_put_float(buf, 4, groundspeed);
+	_mav_put_float(buf, 8, alt);
+	_mav_put_float(buf, 12, climb);
+	_mav_put_int16_t(buf, 16, heading);
+	_mav_put_uint16_t(buf, 18, throttle);
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
+#endif
+#else
+	mavlink_vfr_hud_t *packet = (mavlink_vfr_hud_t *)msgbuf;
+	packet->airspeed = airspeed;
+	packet->groundspeed = groundspeed;
+	packet->alt = alt;
+	packet->climb = climb;
+	packet->heading = heading;
+	packet->throttle = throttle;
+
+#if MAVLINK_CRC_EXTRA
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
+#endif
+#endif
+}
+#endif
+
 #endif
 
 // MESSAGE VFR_HUD UNPACKING