#pragma once
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// MESSAGE ACTUATOR_OUTPUT_STATUS PACKING
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#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS 375
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typedef struct __mavlink_actuator_output_status_t {
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uint64_t time_usec; /*< [us] Timestamp (since system boot).*/
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uint32_t active; /*< Active outputs*/
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float actuator[32]; /*< Servo / motor output array values. Zero values indicate unused channels.*/
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} mavlink_actuator_output_status_t;
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#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN 140
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#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN 140
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#define MAVLINK_MSG_ID_375_LEN 140
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#define MAVLINK_MSG_ID_375_MIN_LEN 140
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#define MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC 251
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#define MAVLINK_MSG_ID_375_CRC 251
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#define MAVLINK_MSG_ACTUATOR_OUTPUT_STATUS_FIELD_ACTUATOR_LEN 32
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ACTUATOR_OUTPUT_STATUS { \
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375, \
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"ACTUATOR_OUTPUT_STATUS", \
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3, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_output_status_t, time_usec) }, \
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{ "active", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_actuator_output_status_t, active) }, \
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{ "actuator", NULL, MAVLINK_TYPE_FLOAT, 32, 12, offsetof(mavlink_actuator_output_status_t, actuator) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ACTUATOR_OUTPUT_STATUS { \
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"ACTUATOR_OUTPUT_STATUS", \
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3, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_actuator_output_status_t, time_usec) }, \
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{ "active", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_actuator_output_status_t, active) }, \
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{ "actuator", NULL, MAVLINK_TYPE_FLOAT, 32, 12, offsetof(mavlink_actuator_output_status_t, actuator) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a actuator_output_status 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 time_usec [us] Timestamp (since system boot).
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* @param active Active outputs
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* @param actuator Servo / motor output array values. Zero values indicate unused channels.
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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_actuator_output_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint32_t active, const float *actuator)
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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_ACTUATOR_OUTPUT_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, active);
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_mav_put_float_array(buf, 12, actuator, 32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
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#else
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mavlink_actuator_output_status_t packet;
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packet.time_usec = time_usec;
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packet.active = active;
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mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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}
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/**
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* @brief Pack a actuator_output_status 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 time_usec [us] Timestamp (since system boot).
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* @param active Active outputs
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* @param actuator Servo / motor output array values. Zero values indicate unused channels.
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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_actuator_output_status_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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uint64_t time_usec,uint32_t active,const float *actuator)
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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_ACTUATOR_OUTPUT_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, active);
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_mav_put_float_array(buf, 12, actuator, 32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
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#else
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mavlink_actuator_output_status_t packet;
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packet.time_usec = time_usec;
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packet.active = active;
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mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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}
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/**
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* @brief Encode a actuator_output_status 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 actuator_output_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_actuator_output_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_actuator_output_status_t* actuator_output_status)
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{
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return mavlink_msg_actuator_output_status_pack(system_id, component_id, msg, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
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}
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/**
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* @brief Encode a actuator_output_status 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 actuator_output_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_actuator_output_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_actuator_output_status_t* actuator_output_status)
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{
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return mavlink_msg_actuator_output_status_pack_chan(system_id, component_id, chan, msg, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
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}
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/**
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* @brief Send a actuator_output_status message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (since system boot).
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* @param active Active outputs
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* @param actuator Servo / motor output array values. Zero values indicate unused channels.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_actuator_output_status_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t active, const float *actuator)
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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_ACTUATOR_OUTPUT_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, active);
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_mav_put_float_array(buf, 12, actuator, 32);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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#else
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mavlink_actuator_output_status_t packet;
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packet.time_usec = time_usec;
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packet.active = active;
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mav_array_memcpy(packet.actuator, actuator, sizeof(float)*32);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a actuator_output_status 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_actuator_output_status_send_struct(mavlink_channel_t chan, const mavlink_actuator_output_status_t* actuator_output_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_actuator_output_status_send(chan, actuator_output_status->time_usec, actuator_output_status->active, actuator_output_status->actuator);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)actuator_output_status, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_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_actuator_output_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t active, const float *actuator)
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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_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, active);
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_mav_put_float_array(buf, 12, actuator, 32);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, buf, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_CRC);
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#else
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mavlink_actuator_output_status_t *packet = (mavlink_actuator_output_status_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->active = active;
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mav_array_memcpy(packet->actuator, actuator, sizeof(float)*32);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, (const char *)packet, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_MIN_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_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 ACTUATOR_OUTPUT_STATUS UNPACKING
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/**
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* @brief Get field time_usec from actuator_output_status message
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*
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* @return [us] Timestamp (since system boot).
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*/
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static inline uint64_t mavlink_msg_actuator_output_status_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field active from actuator_output_status message
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*
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* @return Active outputs
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*/
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static inline uint32_t mavlink_msg_actuator_output_status_get_active(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 8);
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}
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/**
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* @brief Get field actuator from actuator_output_status message
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*
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* @return Servo / motor output array values. Zero values indicate unused channels.
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*/
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static inline uint16_t mavlink_msg_actuator_output_status_get_actuator(const mavlink_message_t* msg, float *actuator)
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{
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return _MAV_RETURN_float_array(msg, actuator, 32, 12);
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}
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/**
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* @brief Decode a actuator_output_status message into a struct
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*
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* @param msg The message to decode
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* @param actuator_output_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_actuator_output_status_decode(const mavlink_message_t* msg, mavlink_actuator_output_status_t* actuator_output_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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actuator_output_status->time_usec = mavlink_msg_actuator_output_status_get_time_usec(msg);
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actuator_output_status->active = mavlink_msg_actuator_output_status_get_active(msg);
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mavlink_msg_actuator_output_status_get_actuator(msg, actuator_output_status->actuator);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN;
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memset(actuator_output_status, 0, MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN);
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memcpy(actuator_output_status, _MAV_PAYLOAD(msg), len);
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#endif
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}
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