#pragma once
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// MESSAGE RANGEFINDER PACKING
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#define MAVLINK_MSG_ID_RANGEFINDER 173
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typedef struct __mavlink_rangefinder_t {
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float distance; /*< [m] Distance.*/
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float voltage; /*< [V] Raw voltage if available, zero otherwise.*/
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} mavlink_rangefinder_t;
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#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
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#define MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN 8
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#define MAVLINK_MSG_ID_173_LEN 8
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#define MAVLINK_MSG_ID_173_MIN_LEN 8
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#define MAVLINK_MSG_ID_RANGEFINDER_CRC 83
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#define MAVLINK_MSG_ID_173_CRC 83
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
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173, \
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"RANGEFINDER", \
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2, \
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{ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
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"RANGEFINDER", \
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2, \
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{ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a rangefinder message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param distance [m] Distance.
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* @param voltage [V] Raw voltage if available, zero otherwise.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float distance, float voltage)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
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_mav_put_float(buf, 0, distance);
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_mav_put_float(buf, 4, voltage);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
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#else
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mavlink_rangefinder_t packet;
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packet.distance = distance;
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packet.voltage = voltage;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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}
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/**
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* @brief Pack a rangefinder message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param distance [m] Distance.
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* @param voltage [V] Raw voltage if available, zero otherwise.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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float distance,float voltage)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
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_mav_put_float(buf, 0, distance);
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_mav_put_float(buf, 4, voltage);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
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#else
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mavlink_rangefinder_t packet;
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packet.distance = distance;
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packet.voltage = voltage;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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}
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/**
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* @brief Encode a rangefinder struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param rangefinder C-struct to read the message contents from
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*/
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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)
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{
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return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
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}
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/**
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* @brief Encode a rangefinder struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param rangefinder C-struct to read the message contents from
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*/
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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)
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{
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return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
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}
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/**
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* @brief Send a rangefinder message
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* @param chan MAVLink channel to send the message
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*
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* @param distance [m] Distance.
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* @param voltage [V] Raw voltage if available, zero otherwise.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
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_mav_put_float(buf, 0, distance);
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_mav_put_float(buf, 4, voltage);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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#else
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mavlink_rangefinder_t packet;
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packet.distance = distance;
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packet.voltage = voltage;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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#endif
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}
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/**
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* @brief Send a rangefinder message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_rangefinder_send_struct(mavlink_channel_t chan, const mavlink_rangefinder_t* rangefinder)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_rangefinder_send(chan, rangefinder->distance, rangefinder->voltage);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)rangefinder, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_RANGEFINDER_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_rangefinder_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float distance, float voltage)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_float(buf, 0, distance);
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_mav_put_float(buf, 4, voltage);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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#else
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mavlink_rangefinder_t *packet = (mavlink_rangefinder_t *)msgbuf;
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packet->distance = distance;
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packet->voltage = voltage;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE RANGEFINDER UNPACKING
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/**
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* @brief Get field distance from rangefinder message
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*
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* @return [m] Distance.
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*/
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static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field voltage from rangefinder message
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*
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* @return [V] Raw voltage if available, zero otherwise.
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*/
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static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Decode a rangefinder message into a struct
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*
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* @param msg The message to decode
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* @param rangefinder C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
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rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_RANGEFINDER_LEN? msg->len : MAVLINK_MSG_ID_RANGEFINDER_LEN;
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memset(rangefinder, 0, MAVLINK_MSG_ID_RANGEFINDER_LEN);
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memcpy(rangefinder, _MAV_PAYLOAD(msg), len);
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#endif
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}
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