include_v2.0/protocol.h
Go to the documentation of this file.
1 #pragma once
2 
3 #include "string.h"
4 #include "mavlink_types.h"
5 
6 /*
7  If you want MAVLink on a system that is native big-endian,
8  you need to define NATIVE_BIG_ENDIAN
9 */
10 #ifdef NATIVE_BIG_ENDIAN
11 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
12 #else
13 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
14 #endif
15 
16 #ifndef MAVLINK_STACK_BUFFER
17 #define MAVLINK_STACK_BUFFER 0
18 #endif
19 
20 #ifndef MAVLINK_AVOID_GCC_STACK_BUG
21 # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
22 #endif
23 
24 #ifndef MAVLINK_ASSERT
25 #define MAVLINK_ASSERT(x)
26 #endif
27 
28 #ifndef MAVLINK_START_UART_SEND
29 #define MAVLINK_START_UART_SEND(chan, length)
30 #endif
31 
32 #ifndef MAVLINK_END_UART_SEND
33 #define MAVLINK_END_UART_SEND(chan, length)
34 #endif
35 
36 /* option to provide alternative implementation of mavlink_helpers.h */
37 #ifdef MAVLINK_SEPARATE_HELPERS
38 
39  #define MAVLINK_HELPER
40 
41  /* decls in sync with those in mavlink_helpers.h */
42  #ifndef MAVLINK_GET_CHANNEL_STATUS
43  MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
44  #endif
45  MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
46  MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
47  uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
48  MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
49  uint8_t min_length, uint8_t length, uint8_t crc_extra);
50  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
51  MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, const char *packet,
52  uint8_t min_length, uint8_t length, uint8_t crc_extra);
53  #endif
54  MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
55  MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
56  MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
57  MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
58  mavlink_status_t* status,
59  uint8_t c,
60  mavlink_message_t* r_message,
61  mavlink_status_t* r_mavlink_status);
62  MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
63  MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
64  MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
65  uint8_t* r_bit_index, uint8_t* buffer);
66  MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid);
67  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
68  MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
69  MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
70  #endif
71 
72 #else
73 
74  #define MAVLINK_HELPER static inline
75  #include "mavlink_helpers.h"
76 
77 #endif // MAVLINK_SEPARATE_HELPERS
78 
79 
83 static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
84 {
85  if (msg->magic == MAVLINK_STX_MAVLINK1) {
86  return msg->len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2;
87  }
88  uint16_t signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;
89  return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len;
90 }
91 
92 #if MAVLINK_NEED_BYTE_SWAP
93 static inline void byte_swap_2(char *dst, const char *src)
94 {
95  dst[0] = src[1];
96  dst[1] = src[0];
97 }
98 static inline void byte_swap_4(char *dst, const char *src)
99 {
100  dst[0] = src[3];
101  dst[1] = src[2];
102  dst[2] = src[1];
103  dst[3] = src[0];
104 }
105 static inline void byte_swap_8(char *dst, const char *src)
106 {
107  dst[0] = src[7];
108  dst[1] = src[6];
109  dst[2] = src[5];
110  dst[3] = src[4];
111  dst[4] = src[3];
112  dst[5] = src[2];
113  dst[6] = src[1];
114  dst[7] = src[0];
115 }
116 #elif !MAVLINK_ALIGNED_FIELDS
117 static inline void byte_copy_2(char *dst, const char *src)
118 {
119  dst[0] = src[0];
120  dst[1] = src[1];
121 }
122 static inline void byte_copy_4(char *dst, const char *src)
123 {
124  dst[0] = src[0];
125  dst[1] = src[1];
126  dst[2] = src[2];
127  dst[3] = src[3];
128 }
129 static inline void byte_copy_8(char *dst, const char *src)
130 {
131  memcpy(dst, src, 8);
132 }
133 #endif
134 
135 #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
136 #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
137 #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
138 
139 #if MAVLINK_NEED_BYTE_SWAP
140 #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
141 #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
142 #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
143 #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
144 #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
145 #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
146 #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
147 #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
148 #elif !MAVLINK_ALIGNED_FIELDS
149 #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
150 #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
151 #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
152 #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
153 #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
154 #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
155 #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
156 #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
157 #else
158 #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
159 #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
160 #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
161 #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
162 #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
163 #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
164 #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
165 #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
166 #endif
167 
168 /*
169  like memcpy(), but if src is NULL, do a memset to zero
170 */
171 static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
172 {
173  if (src == NULL) {
174  memset(dest, 0, n);
175  } else {
176  memcpy(dest, src, n);
177  }
178 }
179 
180 /*
181  * Place a char array into a buffer
182  */
183 static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
184 {
185  mav_array_memcpy(&buf[wire_offset], b, array_length);
186 
187 }
188 
189 /*
190  * Place a uint8_t array into a buffer
191  */
192 static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
193 {
194  mav_array_memcpy(&buf[wire_offset], b, array_length);
195 
196 }
197 
198 /*
199  * Place a int8_t array into a buffer
200  */
201 static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
202 {
203  mav_array_memcpy(&buf[wire_offset], b, array_length);
204 
205 }
206 
207 #if MAVLINK_NEED_BYTE_SWAP
208 #define _MAV_PUT_ARRAY(TYPE, V) \
209 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
210 { \
211  if (b == NULL) { \
212  memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
213  } else { \
214  uint16_t i; \
215  for (i=0; i<array_length; i++) { \
216  _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
217  } \
218  } \
219 }
220 #else
221 #define _MAV_PUT_ARRAY(TYPE, V) \
222 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
223 { \
224  mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
225 }
226 #endif
227 
228 _MAV_PUT_ARRAY(uint16_t, u16)
229 _MAV_PUT_ARRAY(uint32_t, u32)
230 _MAV_PUT_ARRAY(uint64_t, u64)
231 _MAV_PUT_ARRAY(int16_t, i16)
232 _MAV_PUT_ARRAY(int32_t, i32)
233 _MAV_PUT_ARRAY(int64_t, i64)
234 _MAV_PUT_ARRAY(float, f)
235 _MAV_PUT_ARRAY(double, d)
236 
237 #define _MAV_RETURN_char(msg, wire_offset) (char)_MAV_PAYLOAD(msg)[wire_offset]
238 #define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
239 #define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
240 
241 #if MAVLINK_NEED_BYTE_SWAP
242 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
243 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
244 { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
245 
246 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
247 _MAV_MSG_RETURN_TYPE(int16_t, 2)
248 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
249 _MAV_MSG_RETURN_TYPE(int32_t, 4)
250 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
251 _MAV_MSG_RETURN_TYPE(int64_t, 8)
252 _MAV_MSG_RETURN_TYPE(float, 4)
253 _MAV_MSG_RETURN_TYPE(double, 8)
254 
255 #elif !MAVLINK_ALIGNED_FIELDS
256 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
257 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
258 { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
259 
260 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
261 _MAV_MSG_RETURN_TYPE(int16_t, 2)
262 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
263 _MAV_MSG_RETURN_TYPE(int32_t, 4)
264 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
265 _MAV_MSG_RETURN_TYPE(int64_t, 8)
266 _MAV_MSG_RETURN_TYPE(float, 4)
267 _MAV_MSG_RETURN_TYPE(double, 8)
268 #else // nicely aligned, no swap
269 #define _MAV_MSG_RETURN_TYPE(TYPE) \
270 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
271 { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
272 
273 _MAV_MSG_RETURN_TYPE(uint16_t)
274 _MAV_MSG_RETURN_TYPE(int16_t)
275 _MAV_MSG_RETURN_TYPE(uint32_t)
276 _MAV_MSG_RETURN_TYPE(int32_t)
277 _MAV_MSG_RETURN_TYPE(uint64_t)
278 _MAV_MSG_RETURN_TYPE(int64_t)
279 _MAV_MSG_RETURN_TYPE(float)
280 _MAV_MSG_RETURN_TYPE(double)
281 #endif // MAVLINK_NEED_BYTE_SWAP
282 
283 static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
284  uint8_t array_length, uint8_t wire_offset)
285 {
286  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
287  return array_length;
288 }
289 
290 static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
291  uint8_t array_length, uint8_t wire_offset)
292 {
293  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
294  return array_length;
295 }
296 
297 static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
298  uint8_t array_length, uint8_t wire_offset)
299 {
300  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
301  return array_length;
302 }
303 
304 #if MAVLINK_NEED_BYTE_SWAP
305 #define _MAV_RETURN_ARRAY(TYPE, V) \
306 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
307  uint8_t array_length, uint8_t wire_offset) \
308 { \
309  uint16_t i; \
310  for (i=0; i<array_length; i++) { \
311  value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
312  } \
313  return array_length*sizeof(value[0]); \
314 }
315 #else
316 #define _MAV_RETURN_ARRAY(TYPE, V) \
317 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
318  uint8_t array_length, uint8_t wire_offset) \
319 { \
320  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
321  return array_length*sizeof(TYPE); \
322 }
323 #endif
324 
325 _MAV_RETURN_ARRAY(uint16_t, u16)
326 _MAV_RETURN_ARRAY(uint32_t, u32)
327 _MAV_RETURN_ARRAY(uint64_t, u64)
328 _MAV_RETURN_ARRAY(int16_t, i16)
329 _MAV_RETURN_ARRAY(int32_t, i32)
330 _MAV_RETURN_ARRAY(int64_t, i64)
331 _MAV_RETURN_ARRAY(float, f)
332 _MAV_RETURN_ARRAY(double, d)
333 
334 
__mavlink_message::magic
uint8_t magic
sent at end of packet
Definition: include_v0.9/mavlink_types.h:218
MAVLINK_HELPER
#define MAVLINK_HELPER
Definition: include_v2.0/protocol.h:74
__mavlink_status
Definition: include_v0.9/mavlink_types.h:308
mavlink_start_checksum
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t *msg)
Definition: include_v0.9/mavlink_helpers.h:173
MAVLINK_STX_MAVLINK1
#define MAVLINK_STX_MAVLINK1
Definition: include_v2.0/mavlink_types.h:215
mavlink_frame_char
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
Definition: include_v1.0/mavlink_helpers.h:447
MAVLINK_IFLAG_SIGNED
#define MAVLINK_IFLAG_SIGNED
Definition: include_v2.0/mavlink_types.h:294
_MAV_PUT_ARRAY
#define _MAV_PUT_ARRAY(TYPE, V)
Definition: include_v2.0/protocol.h:208
_mav_put_int8_t_array
static void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
Definition: include_v2.0/protocol.h:201
mavlink_channel_t
mavlink_channel_t
Definition: include_v0.9/mavlink_types.h:275
_MAV_MSG_RETURN_TYPE
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE)
Definition: include_v2.0/protocol.h:242
mavlink_types.h
_MAV_RETURN_char_array
static uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v2.0/protocol.h:283
MAVLINK_NUM_NON_PAYLOAD_BYTES
#define MAVLINK_NUM_NON_PAYLOAD_BYTES
Definition: include_v0.9/mavlink_types.h:179
MAVLINK_CORE_HEADER_MAVLINK1_LEN
#define MAVLINK_CORE_HEADER_MAVLINK1_LEN
Length of MAVLink1 core header (of the comm. layer)
Definition: include_v2.0/mavlink_types.h:28
put_bitfield_n_by_index
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t *r_bit_index, uint8_t *buffer)
Put a bitfield of length 1-32 bit into the buffer.
Definition: include_v0.9/mavlink_helpers.h:420
__mavlink_msg_entry
Definition: include_v2.0/mavlink_types.h:281
mavlink_frame_char_buffer
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t *rxmsg, mavlink_status_t *status, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
Definition: include_v1.0/mavlink_helpers.h:221
mavlink_update_checksum
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t *msg, uint8_t c)
Definition: include_v0.9/mavlink_helpers.h:178
_mav_put_char_array
static void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
Definition: include_v2.0/protocol.h:183
mavlink_finalize_message_chan
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint8_t length)
Finalize a MAVLink message with channel assignment.
Definition: include_v0.9/mavlink_helpers.h:55
mavlink_msg_get_send_buffer_length
static uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t *msg)
Get the required buffer size for this message.
Definition: include_v2.0/protocol.h:83
mavlink_get_channel_status
MAVLINK_HELPER mavlink_status_t * mavlink_get_channel_status(uint8_t chan)
Definition: include_v0.9/mavlink_helpers.h:15
__mavlink_message
Definition: include_v0.9/mavlink_types.h:216
_mav_put_uint8_t_array
static void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
Definition: include_v2.0/protocol.h:192
byte_swap_4
static void byte_swap_4(char *dst, const char *src)
Definition: include_v2.0/protocol.h:98
_mav_finalize_message_chan_send
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
_MAV_PAYLOAD
#define _MAV_PAYLOAD(msg)
Definition: include_v0.9/mavlink_types.h:268
mav_array_memcpy
static void mav_array_memcpy(void *dest, const void *src, size_t n)
Definition: include_v2.0/protocol.h:171
_MAV_RETURN_int8_t_array
static uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v2.0/protocol.h:297
__mavlink_message::len
uint8_t len
Length of payload.
Definition: include_v0.9/mavlink_types.h:219
mavlink_reset_channel_status
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
Reset the status of a channel.
Definition: include_v1.0/mavlink_helpers.h:49
mavlink_finalize_message
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t length)
Finalize a MAVLink message with MAVLINK_COMM_0 as default channel.
Definition: include_v0.9/mavlink_helpers.h:89
_MAV_RETURN_ARRAY
#define _MAV_RETURN_ARRAY(TYPE, V)
Definition: include_v2.0/protocol.h:305
mavlink_helpers.h
mavlink_get_msg_entry
MAVLINK_HELPER const mavlink_msg_entry_t * mavlink_get_msg_entry(uint32_t msgid)
Definition: include_v2.0/mavlink_helpers.h:491
byte_swap_8
static void byte_swap_8(char *dst, const char *src)
Definition: include_v2.0/protocol.h:105
mavlink_parse_char
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
Definition: include_v0.9/mavlink_helpers.h:219
mavlink_msg_to_send_buffer
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
Pack a message to send it over a serial byte stream.
Definition: include_v0.9/mavlink_helpers.h:157
_MAV_RETURN_uint8_t_array
static uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v2.0/protocol.h:290
byte_swap_2
static void byte_swap_2(char *dst, const char *src)
Definition: include_v2.0/protocol.h:93
MAVLINK_SIGNATURE_BLOCK_LEN
#define MAVLINK_SIGNATURE_BLOCK_LEN
Definition: include_v2.0/mavlink_types.h:33

mavlink
Author(s): Lorenz Meier
autogenerated on Sun Jul 7 2019 03:22:07