diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h | 34 |
1 files changed, 34 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h index 3f4295ee5..a8e49b642 100644 --- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h @@ -157,6 +157,40 @@ static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, u #endif } +#if MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_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_watchdog_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, watchdog_id); + _mav_put_uint16_t(buf, 2, process_count); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN); +#endif +#else + mavlink_watchdog_heartbeat_t *packet = (mavlink_watchdog_heartbeat_t *)msgbuf; + packet->watchdog_id = watchdog_id; + packet->process_count = process_count; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE WATCHDOG_HEARTBEAT UNPACKING |