mavlink_msg_sys_status.h

Go to the documentation of this file.

// MESSAGE SYS_STATUS PACKING

#define MAVLINK_MSG_ID_SYS_STATUS 1

typedef struct __mavlink_sys_status_t
{
 uint32_t onboard_control_sensors_present; /*< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
 uint32_t onboard_control_sensors_enabled; /*< Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
 uint32_t onboard_control_sensors_health; /*< Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR*/
 uint16_t load; /*< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000*/
 uint16_t voltage_battery; /*< Battery voltage, in millivolts (1 = 1 millivolt)*/
 int16_t current_battery; /*< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current*/
 uint16_t drop_rate_comm; /*< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)*/
 uint16_t errors_comm; /*< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)*/
 uint16_t errors_count1; /*< Autopilot-specific errors*/
 uint16_t errors_count2; /*< Autopilot-specific errors*/
 uint16_t errors_count3; /*< Autopilot-specific errors*/
 uint16_t errors_count4; /*< Autopilot-specific errors*/
 int8_t battery_remaining; /*< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery*/
} mavlink_sys_status_t;

#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
#define MAVLINK_MSG_ID_1_LEN 31

#define MAVLINK_MSG_ID_SYS_STATUS_CRC 124
#define MAVLINK_MSG_ID_1_CRC 124



#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
        "SYS_STATUS", \
        13, \
        {  { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
         { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
         { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
         { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
         { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
         { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
         { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
         { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
         { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
         { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
         { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
         { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
         } \
}


static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
        _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
        _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
        _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
        _mav_put_uint16_t(buf, 12, load);
        _mav_put_uint16_t(buf, 14, voltage_battery);
        _mav_put_int16_t(buf, 16, current_battery);
        _mav_put_uint16_t(buf, 18, drop_rate_comm);
        _mav_put_uint16_t(buf, 20, errors_comm);
        _mav_put_uint16_t(buf, 22, errors_count1);
        _mav_put_uint16_t(buf, 24, errors_count2);
        _mav_put_uint16_t(buf, 26, errors_count3);
        _mav_put_uint16_t(buf, 28, errors_count4);
        _mav_put_int8_t(buf, 30, battery_remaining);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#else
        mavlink_sys_status_t packet;
        packet.onboard_control_sensors_present = onboard_control_sensors_present;
        packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
        packet.onboard_control_sensors_health = onboard_control_sensors_health;
        packet.load = load;
        packet.voltage_battery = voltage_battery;
        packet.current_battery = current_battery;
        packet.drop_rate_comm = drop_rate_comm;
        packet.errors_comm = errors_comm;
        packet.errors_count1 = errors_count1;
        packet.errors_count2 = errors_count2;
        packet.errors_count3 = errors_count3;
        packet.errors_count4 = errors_count4;
        packet.battery_remaining = battery_remaining;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
}

static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
        _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
        _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
        _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
        _mav_put_uint16_t(buf, 12, load);
        _mav_put_uint16_t(buf, 14, voltage_battery);
        _mav_put_int16_t(buf, 16, current_battery);
        _mav_put_uint16_t(buf, 18, drop_rate_comm);
        _mav_put_uint16_t(buf, 20, errors_comm);
        _mav_put_uint16_t(buf, 22, errors_count1);
        _mav_put_uint16_t(buf, 24, errors_count2);
        _mav_put_uint16_t(buf, 26, errors_count3);
        _mav_put_uint16_t(buf, 28, errors_count4);
        _mav_put_int8_t(buf, 30, battery_remaining);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#else
        mavlink_sys_status_t packet;
        packet.onboard_control_sensors_present = onboard_control_sensors_present;
        packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
        packet.onboard_control_sensors_health = onboard_control_sensors_health;
        packet.load = load;
        packet.voltage_battery = voltage_battery;
        packet.current_battery = current_battery;
        packet.drop_rate_comm = drop_rate_comm;
        packet.errors_comm = errors_comm;
        packet.errors_count1 = errors_count1;
        packet.errors_count2 = errors_count2;
        packet.errors_count3 = errors_count3;
        packet.errors_count4 = errors_count4;
        packet.battery_remaining = battery_remaining;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
}

static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
{
        return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
}

static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
{
        return mavlink_msg_sys_status_pack_chan(system_id, component_id, chan, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
        _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
        _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
        _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
        _mav_put_uint16_t(buf, 12, load);
        _mav_put_uint16_t(buf, 14, voltage_battery);
        _mav_put_int16_t(buf, 16, current_battery);
        _mav_put_uint16_t(buf, 18, drop_rate_comm);
        _mav_put_uint16_t(buf, 20, errors_comm);
        _mav_put_uint16_t(buf, 22, errors_count1);
        _mav_put_uint16_t(buf, 24, errors_count2);
        _mav_put_uint16_t(buf, 26, errors_count3);
        _mav_put_uint16_t(buf, 28, errors_count4);
        _mav_put_int8_t(buf, 30, battery_remaining);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
#else
        mavlink_sys_status_t packet;
        packet.onboard_control_sensors_present = onboard_control_sensors_present;
        packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
        packet.onboard_control_sensors_health = onboard_control_sensors_health;
        packet.load = load;
        packet.voltage_battery = voltage_battery;
        packet.current_battery = current_battery;
        packet.drop_rate_comm = drop_rate_comm;
        packet.errors_comm = errors_comm;
        packet.errors_count1 = errors_count1;
        packet.errors_count2 = errors_count2;
        packet.errors_count3 = errors_count3;
        packet.errors_count4 = errors_count4;
        packet.battery_remaining = battery_remaining;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_SYS_STATUS_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_sys_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
        _mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
        _mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
        _mav_put_uint16_t(buf, 12, load);
        _mav_put_uint16_t(buf, 14, voltage_battery);
        _mav_put_int16_t(buf, 16, current_battery);
        _mav_put_uint16_t(buf, 18, drop_rate_comm);
        _mav_put_uint16_t(buf, 20, errors_comm);
        _mav_put_uint16_t(buf, 22, errors_count1);
        _mav_put_uint16_t(buf, 24, errors_count2);
        _mav_put_uint16_t(buf, 26, errors_count3);
        _mav_put_uint16_t(buf, 28, errors_count4);
        _mav_put_int8_t(buf, 30, battery_remaining);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
#else
        mavlink_sys_status_t *packet = (mavlink_sys_status_t *)msgbuf;
        packet->onboard_control_sensors_present = onboard_control_sensors_present;
        packet->onboard_control_sensors_enabled = onboard_control_sensors_enabled;
        packet->onboard_control_sensors_health = onboard_control_sensors_health;
        packet->load = load;
        packet->voltage_battery = voltage_battery;
        packet->current_battery = current_battery;
        packet->drop_rate_comm = drop_rate_comm;
        packet->errors_comm = errors_comm;
        packet->errors_count1 = errors_count1;
        packet->errors_count2 = errors_count2;
        packet->errors_count3 = errors_count3;
        packet->errors_count4 = errors_count4;
        packet->battery_remaining = battery_remaining;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE SYS_STATUS UNPACKING


static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint32_t(msg,  0);
}

static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint32_t(msg,  4);
}

static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint32_t(msg,  8);
}

static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  12);
}

static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  14);
}

static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int16_t(msg,  16);
}

static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int8_t(msg,  30);
}

static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  18);
}

static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  20);
}

static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  22);
}

static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  24);
}

static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  26);
}

static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  28);
}

static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
{
#if MAVLINK_NEED_BYTE_SWAP
        sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
        sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
        sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
        sys_status->load = mavlink_msg_sys_status_get_load(msg);
        sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
        sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
        sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
        sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
        sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
        sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
        sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
        sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
        sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
#else
        memcpy(sys_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
}