#pragma once
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// MESSAGE ESC_STATUS PACKING
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#define MAVLINK_MSG_ID_ESC_STATUS 291
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typedef struct __mavlink_esc_status_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
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int32_t rpm[4]; /*< [rpm] Reported motor RPM from each ESC (negative for reverse rotation).*/
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float voltage[4]; /*< [V] Voltage measured from each ESC.*/
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float current[4]; /*< [A] Current measured from each ESC.*/
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uint8_t index; /*< Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.*/
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} mavlink_esc_status_t;
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#define MAVLINK_MSG_ID_ESC_STATUS_LEN 57
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#define MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN 57
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#define MAVLINK_MSG_ID_291_LEN 57
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#define MAVLINK_MSG_ID_291_MIN_LEN 57
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#define MAVLINK_MSG_ID_ESC_STATUS_CRC 10
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#define MAVLINK_MSG_ID_291_CRC 10
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#define MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN 4
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#define MAVLINK_MSG_ESC_STATUS_FIELD_VOLTAGE_LEN 4
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#define MAVLINK_MSG_ESC_STATUS_FIELD_CURRENT_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ESC_STATUS { \
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291, \
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"ESC_STATUS", \
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5, \
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{ { "index", NULL, MAVLINK_TYPE_UINT8_T, 0, 56, offsetof(mavlink_esc_status_t, index) }, \
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{ "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_esc_status_t, time_usec) }, \
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{ "rpm", NULL, MAVLINK_TYPE_INT32_T, 4, 8, offsetof(mavlink_esc_status_t, rpm) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_esc_status_t, voltage) }, \
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{ "current", NULL, MAVLINK_TYPE_FLOAT, 4, 40, offsetof(mavlink_esc_status_t, current) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ESC_STATUS { \
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"ESC_STATUS", \
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5, \
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{ { "index", NULL, MAVLINK_TYPE_UINT8_T, 0, 56, offsetof(mavlink_esc_status_t, index) }, \
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{ "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_esc_status_t, time_usec) }, \
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{ "rpm", NULL, MAVLINK_TYPE_INT32_T, 4, 8, offsetof(mavlink_esc_status_t, rpm) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_esc_status_t, voltage) }, \
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{ "current", NULL, MAVLINK_TYPE_FLOAT, 4, 40, offsetof(mavlink_esc_status_t, current) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a esc_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 index Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param rpm [rpm] Reported motor RPM from each ESC (negative for reverse rotation).
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* @param voltage [V] Voltage measured from each ESC.
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* @param current [A] Current measured from each ESC.
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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_esc_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t index, uint64_t time_usec, const int32_t *rpm, const float *voltage, const float *current)
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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_ESC_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 56, index);
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_mav_put_int32_t_array(buf, 8, rpm, 4);
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_mav_put_float_array(buf, 24, voltage, 4);
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_mav_put_float_array(buf, 40, current, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESC_STATUS_LEN);
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#else
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mavlink_esc_status_t packet;
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packet.time_usec = time_usec;
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packet.index = index;
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mav_array_memcpy(packet.rpm, rpm, sizeof(int32_t)*4);
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mav_array_memcpy(packet.voltage, voltage, sizeof(float)*4);
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mav_array_memcpy(packet.current, current, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESC_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ESC_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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}
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/**
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* @brief Pack a esc_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 index Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param rpm [rpm] Reported motor RPM from each ESC (negative for reverse rotation).
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* @param voltage [V] Voltage measured from each ESC.
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* @param current [A] Current measured from each ESC.
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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_esc_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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uint8_t index,uint64_t time_usec,const int32_t *rpm,const float *voltage,const float *current)
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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_ESC_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 56, index);
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_mav_put_int32_t_array(buf, 8, rpm, 4);
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_mav_put_float_array(buf, 24, voltage, 4);
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_mav_put_float_array(buf, 40, current, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESC_STATUS_LEN);
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#else
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mavlink_esc_status_t packet;
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packet.time_usec = time_usec;
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packet.index = index;
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mav_array_memcpy(packet.rpm, rpm, sizeof(int32_t)*4);
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mav_array_memcpy(packet.voltage, voltage, sizeof(float)*4);
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mav_array_memcpy(packet.current, current, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESC_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ESC_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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}
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/**
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* @brief Encode a esc_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 esc_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_esc_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_esc_status_t* esc_status)
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{
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return mavlink_msg_esc_status_pack(system_id, component_id, msg, esc_status->index, esc_status->time_usec, esc_status->rpm, esc_status->voltage, esc_status->current);
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}
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/**
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* @brief Encode a esc_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 esc_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_esc_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_esc_status_t* esc_status)
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{
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return mavlink_msg_esc_status_pack_chan(system_id, component_id, chan, msg, esc_status->index, esc_status->time_usec, esc_status->rpm, esc_status->voltage, esc_status->current);
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}
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/**
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* @brief Send a esc_status message
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* @param chan MAVLink channel to send the message
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*
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* @param index Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param rpm [rpm] Reported motor RPM from each ESC (negative for reverse rotation).
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* @param voltage [V] Voltage measured from each ESC.
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* @param current [A] Current measured from each ESC.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_esc_status_send(mavlink_channel_t chan, uint8_t index, uint64_t time_usec, const int32_t *rpm, const float *voltage, const float *current)
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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_ESC_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 56, index);
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_mav_put_int32_t_array(buf, 8, rpm, 4);
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_mav_put_float_array(buf, 24, voltage, 4);
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_mav_put_float_array(buf, 40, current, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESC_STATUS, buf, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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#else
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mavlink_esc_status_t packet;
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packet.time_usec = time_usec;
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packet.index = index;
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mav_array_memcpy(packet.rpm, rpm, sizeof(int32_t)*4);
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mav_array_memcpy(packet.voltage, voltage, sizeof(float)*4);
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mav_array_memcpy(packet.current, current, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESC_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a esc_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_esc_status_send_struct(mavlink_channel_t chan, const mavlink_esc_status_t* esc_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_esc_status_send(chan, esc_status->index, esc_status->time_usec, esc_status->rpm, esc_status->voltage, esc_status->current);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESC_STATUS, (const char *)esc_status, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ESC_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_esc_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t index, uint64_t time_usec, const int32_t *rpm, const float *voltage, const float *current)
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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_uint8_t(buf, 56, index);
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_mav_put_int32_t_array(buf, 8, rpm, 4);
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_mav_put_float_array(buf, 24, voltage, 4);
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_mav_put_float_array(buf, 40, current, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESC_STATUS, buf, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_STATUS_CRC);
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#else
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mavlink_esc_status_t *packet = (mavlink_esc_status_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->index = index;
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mav_array_memcpy(packet->rpm, rpm, sizeof(int32_t)*4);
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mav_array_memcpy(packet->voltage, voltage, sizeof(float)*4);
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mav_array_memcpy(packet->current, current, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESC_STATUS, (const char *)packet, MAVLINK_MSG_ID_ESC_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESC_STATUS_LEN, MAVLINK_MSG_ID_ESC_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 ESC_STATUS UNPACKING
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/**
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* @brief Get field index from esc_status message
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*
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* @return Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
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*/
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static inline uint8_t mavlink_msg_esc_status_get_index(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 56);
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}
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/**
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* @brief Get field time_usec from esc_status message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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*/
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static inline uint64_t mavlink_msg_esc_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 rpm from esc_status message
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*
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* @return [rpm] Reported motor RPM from each ESC (negative for reverse rotation).
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*/
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static inline uint16_t mavlink_msg_esc_status_get_rpm(const mavlink_message_t* msg, int32_t *rpm)
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{
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return _MAV_RETURN_int32_t_array(msg, rpm, 4, 8);
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}
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/**
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* @brief Get field voltage from esc_status message
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*
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* @return [V] Voltage measured from each ESC.
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*/
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static inline uint16_t mavlink_msg_esc_status_get_voltage(const mavlink_message_t* msg, float *voltage)
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{
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return _MAV_RETURN_float_array(msg, voltage, 4, 24);
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}
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/**
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* @brief Get field current from esc_status message
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*
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* @return [A] Current measured from each ESC.
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*/
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static inline uint16_t mavlink_msg_esc_status_get_current(const mavlink_message_t* msg, float *current)
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{
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return _MAV_RETURN_float_array(msg, current, 4, 40);
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}
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/**
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* @brief Decode a esc_status message into a struct
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*
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* @param msg The message to decode
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* @param esc_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_esc_status_decode(const mavlink_message_t* msg, mavlink_esc_status_t* esc_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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esc_status->time_usec = mavlink_msg_esc_status_get_time_usec(msg);
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mavlink_msg_esc_status_get_rpm(msg, esc_status->rpm);
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mavlink_msg_esc_status_get_voltage(msg, esc_status->voltage);
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mavlink_msg_esc_status_get_current(msg, esc_status->current);
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esc_status->index = mavlink_msg_esc_status_get_index(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_ESC_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ESC_STATUS_LEN;
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memset(esc_status, 0, MAVLINK_MSG_ID_ESC_STATUS_LEN);
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memcpy(esc_status, _MAV_PAYLOAD(msg), len);
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#endif
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}
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