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// MESSAGE RANGEFINDER PACKING
#define MAVLINK_MSG_ID_RANGEFINDER 173
typedef struct __mavlink_rangefinder_t
{
float distance; ///< distance in meters
float voltage; ///< raw voltage if available, zero otherwise
} mavlink_rangefinder_t;
#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
#define MAVLINK_MSG_ID_173_LEN 8
#define MAVLINK_MSG_ID_RANGEFINDER_CRC 83
#define MAVLINK_MSG_ID_173_CRC 83
#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
"RANGEFINDER", \
2, \
{ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
} \
}
/**
* @brief Pack a rangefinder message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
/**
* @brief Pack a rangefinder message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float distance,float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
/**
* @brief Encode a rangefinder struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param rangefinder C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
{
return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
}
/**
* @brief Encode a rangefinder struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param rangefinder C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
{
return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
}
/**
* @brief Send a rangefinder message
* @param chan MAVLink channel to send the message
*
* @param distance distance in meters
* @param voltage raw voltage if available, zero otherwise
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_RANGEFINDER_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_rangefinder_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#else
mavlink_rangefinder_t *packet = (mavlink_rangefinder_t *)msgbuf;
packet->distance = distance;
packet->voltage = voltage;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE RANGEFINDER UNPACKING
/**
* @brief Get field distance from rangefinder message
*
* @return distance in meters
*/
static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field voltage from rangefinder message
*
* @return raw voltage if available, zero otherwise
*/
static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Decode a rangefinder message into a struct
*
* @param msg The message to decode
* @param rangefinder C-struct to decode the message contents into
*/
static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
{
#if MAVLINK_NEED_BYTE_SWAP
rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
#else
memcpy(rangefinder, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
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