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 | 44 |
1 files changed, 44 insertions, 0 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 8e9740e82..830eb4639 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, #endif } +#if MAVLINK_MSG_ID_RADIO_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_radio_send_buf(mavlink_message_t *msgbuf, 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 = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, rxerrors); + _mav_put_uint16_t(buf, 2, fixed); + _mav_put_uint8_t(buf, 4, rssi); + _mav_put_uint8_t(buf, 5, remrssi); + _mav_put_uint8_t(buf, 6, txbuf); + _mav_put_uint8_t(buf, 7, noise); + _mav_put_uint8_t(buf, 8, remnoise); + +#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 = (mavlink_radio_t *)msgbuf; + packet->rxerrors = rxerrors; + packet->fixed = fixed; + packet->rssi = rssi; + packet->remrssi = remrssi; + packet->txbuf = txbuf; + packet->noise = noise; + packet->remnoise = remnoise; + +#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 +} +#endif + #endif // MESSAGE RADIO UNPACKING |