diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h index 08cedbb4b..41a512648 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h @@ -212,6 +212,50 @@ static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc #endif } +#if MAVLINK_MSG_ID_RAW_AUX_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_raw_aux_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_int32_t(buf, 0, baro); + _mav_put_uint16_t(buf, 4, adc1); + _mav_put_uint16_t(buf, 6, adc2); + _mav_put_uint16_t(buf, 8, adc3); + _mav_put_uint16_t(buf, 10, adc4); + _mav_put_uint16_t(buf, 12, vbat); + _mav_put_int16_t(buf, 14, temp); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN); +#endif +#else + mavlink_raw_aux_t *packet = (mavlink_raw_aux_t *)msgbuf; + packet->baro = baro; + packet->adc1 = adc1; + packet->adc2 = adc2; + packet->adc3 = adc3; + packet->adc4 = adc4; + packet->vbat = vbat; + packet->temp = temp; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)packet, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)packet, MAVLINK_MSG_ID_RAW_AUX_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE RAW_AUX UNPACKING |