#pragma once // MESSAGE CURRENT_MODE PACKING #define MAVLINK_MSG_ID_CURRENT_MODE 436 typedef struct __mavlink_current_mode_t { uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags*/ uint32_t intended_custom_mode; /*< The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied*/ uint8_t standard_mode; /*< Standard mode.*/ } mavlink_current_mode_t; #define MAVLINK_MSG_ID_CURRENT_MODE_LEN 9 #define MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN 9 #define MAVLINK_MSG_ID_436_LEN 9 #define MAVLINK_MSG_ID_436_MIN_LEN 9 #define MAVLINK_MSG_ID_CURRENT_MODE_CRC 193 #define MAVLINK_MSG_ID_436_CRC 193 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_CURRENT_MODE { \ 436, \ "CURRENT_MODE", \ 3, \ { { "standard_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_current_mode_t, standard_mode) }, \ { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_current_mode_t, custom_mode) }, \ { "intended_custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_current_mode_t, intended_custom_mode) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_CURRENT_MODE { \ "CURRENT_MODE", \ 3, \ { { "standard_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_current_mode_t, standard_mode) }, \ { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_current_mode_t, custom_mode) }, \ { "intended_custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_current_mode_t, intended_custom_mode) }, \ } \ } #endif /** * @brief Pack a current_mode 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 standard_mode Standard mode. * @param custom_mode A bitfield for use for autopilot-specific flags * @param intended_custom_mode The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_current_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t standard_mode, uint32_t custom_mode, uint32_t intended_custom_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CURRENT_MODE_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_uint32_t(buf, 4, intended_custom_mode); _mav_put_uint8_t(buf, 8, standard_mode); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #else mavlink_current_mode_t packet; packet.custom_mode = custom_mode; packet.intended_custom_mode = intended_custom_mode; packet.standard_mode = standard_mode; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CURRENT_MODE; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); } /** * @brief Pack a current_mode message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * * @param standard_mode Standard mode. * @param custom_mode A bitfield for use for autopilot-specific flags * @param intended_custom_mode The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_current_mode_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg, uint8_t standard_mode, uint32_t custom_mode, uint32_t intended_custom_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CURRENT_MODE_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_uint32_t(buf, 4, intended_custom_mode); _mav_put_uint8_t(buf, 8, standard_mode); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #else mavlink_current_mode_t packet; packet.custom_mode = custom_mode; packet.intended_custom_mode = intended_custom_mode; packet.standard_mode = standard_mode; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CURRENT_MODE; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #endif } /** * @brief Pack a current_mode 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 standard_mode Standard mode. * @param custom_mode A bitfield for use for autopilot-specific flags * @param intended_custom_mode The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_current_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t standard_mode,uint32_t custom_mode,uint32_t intended_custom_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CURRENT_MODE_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_uint32_t(buf, 4, intended_custom_mode); _mav_put_uint8_t(buf, 8, standard_mode); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #else mavlink_current_mode_t packet; packet.custom_mode = custom_mode; packet.intended_custom_mode = intended_custom_mode; packet.standard_mode = standard_mode; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CURRENT_MODE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CURRENT_MODE; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); } /** * @brief Encode a current_mode 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 current_mode C-struct to read the message contents from */ static inline uint16_t mavlink_msg_current_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_current_mode_t* current_mode) { return mavlink_msg_current_mode_pack(system_id, component_id, msg, current_mode->standard_mode, current_mode->custom_mode, current_mode->intended_custom_mode); } /** * @brief Encode a current_mode 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 current_mode C-struct to read the message contents from */ static inline uint16_t mavlink_msg_current_mode_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_current_mode_t* current_mode) { return mavlink_msg_current_mode_pack_chan(system_id, component_id, chan, msg, current_mode->standard_mode, current_mode->custom_mode, current_mode->intended_custom_mode); } /** * @brief Encode a current_mode struct with provided status structure * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * @param current_mode C-struct to read the message contents from */ static inline uint16_t mavlink_msg_current_mode_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_current_mode_t* current_mode) { return mavlink_msg_current_mode_pack_status(system_id, component_id, _status, msg, current_mode->standard_mode, current_mode->custom_mode, current_mode->intended_custom_mode); } /** * @brief Send a current_mode message * @param chan MAVLink channel to send the message * * @param standard_mode Standard mode. * @param custom_mode A bitfield for use for autopilot-specific flags * @param intended_custom_mode The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_current_mode_send(mavlink_channel_t chan, uint8_t standard_mode, uint32_t custom_mode, uint32_t intended_custom_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CURRENT_MODE_LEN]; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_uint32_t(buf, 4, intended_custom_mode); _mav_put_uint8_t(buf, 8, standard_mode); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CURRENT_MODE, buf, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #else mavlink_current_mode_t packet; packet.custom_mode = custom_mode; packet.intended_custom_mode = intended_custom_mode; packet.standard_mode = standard_mode; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CURRENT_MODE, (const char *)&packet, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #endif } /** * @brief Send a current_mode message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_current_mode_send_struct(mavlink_channel_t chan, const mavlink_current_mode_t* current_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_current_mode_send(chan, current_mode->standard_mode, current_mode->custom_mode, current_mode->intended_custom_mode); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CURRENT_MODE, (const char *)current_mode, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #endif } #if MAVLINK_MSG_ID_CURRENT_MODE_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This variant of _send() can be used to save stack space by reusing 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_current_mode_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t standard_mode, uint32_t custom_mode, uint32_t intended_custom_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, custom_mode); _mav_put_uint32_t(buf, 4, intended_custom_mode); _mav_put_uint8_t(buf, 8, standard_mode); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CURRENT_MODE, buf, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #else mavlink_current_mode_t *packet = (mavlink_current_mode_t *)msgbuf; packet->custom_mode = custom_mode; packet->intended_custom_mode = intended_custom_mode; packet->standard_mode = standard_mode; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CURRENT_MODE, (const char *)packet, MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN, MAVLINK_MSG_ID_CURRENT_MODE_LEN, MAVLINK_MSG_ID_CURRENT_MODE_CRC); #endif } #endif #endif // MESSAGE CURRENT_MODE UNPACKING /** * @brief Get field standard_mode from current_mode message * * @return Standard mode. */ static inline uint8_t mavlink_msg_current_mode_get_standard_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 8); } /** * @brief Get field custom_mode from current_mode message * * @return A bitfield for use for autopilot-specific flags */ static inline uint32_t mavlink_msg_current_mode_get_custom_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field intended_custom_mode from current_mode message * * @return The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied */ static inline uint32_t mavlink_msg_current_mode_get_intended_custom_mode(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 4); } /** * @brief Decode a current_mode message into a struct * * @param msg The message to decode * @param current_mode C-struct to decode the message contents into */ static inline void mavlink_msg_current_mode_decode(const mavlink_message_t* msg, mavlink_current_mode_t* current_mode) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS current_mode->custom_mode = mavlink_msg_current_mode_get_custom_mode(msg); current_mode->intended_custom_mode = mavlink_msg_current_mode_get_intended_custom_mode(msg); current_mode->standard_mode = mavlink_msg_current_mode_get_standard_mode(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_CURRENT_MODE_LEN? msg->len : MAVLINK_MSG_ID_CURRENT_MODE_LEN; memset(current_mode, 0, MAVLINK_MSG_ID_CURRENT_MODE_LEN); memcpy(current_mode, _MAV_PAYLOAD(msg), len); #endif }