diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h index d41093792..7bc27982a 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h @@ -217,6 +217,50 @@ static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float #endif } +#if MAVLINK_MSG_ID_BRIEF_FEATURE_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_brief_feature_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, x); + _mav_put_float(buf, 4, y); + _mav_put_float(buf, 8, z); + _mav_put_float(buf, 12, response); + _mav_put_uint16_t(buf, 16, size); + _mav_put_uint16_t(buf, 18, orientation); + _mav_put_uint8_t(buf, 20, orientation_assignment); + _mav_put_uint8_t_array(buf, 21, descriptor, 32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN); +#endif +#else + mavlink_brief_feature_t *packet = (mavlink_brief_feature_t *)msgbuf; + packet->x = x; + packet->y = y; + packet->z = z; + packet->response = response; + packet->size = size; + packet->orientation = orientation; + packet->orientation_assignment = orientation_assignment; + mav_array_memcpy(packet->descriptor, descriptor, sizeof(uint8_t)*32); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE BRIEF_FEATURE UNPACKING |