#pragma once
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// MESSAGE PARAM_MAP_RC PACKING
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#define MAVLINK_MSG_ID_PARAM_MAP_RC 50
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typedef struct __mavlink_param_map_rc_t {
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float param_value0; /*< Initial parameter value*/
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float scale; /*< Scale, maps the RC range [-1, 1] to a parameter value*/
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float param_value_min; /*< Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)*/
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float param_value_max; /*< Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)*/
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int16_t param_index; /*< Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.*/
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uint8_t target_system; /*< System ID*/
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uint8_t target_component; /*< Component ID*/
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char param_id[16]; /*< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string*/
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uint8_t parameter_rc_channel_index; /*< Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.*/
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} mavlink_param_map_rc_t;
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#define MAVLINK_MSG_ID_PARAM_MAP_RC_LEN 37
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#define MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN 37
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#define MAVLINK_MSG_ID_50_LEN 37
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#define MAVLINK_MSG_ID_50_MIN_LEN 37
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#define MAVLINK_MSG_ID_PARAM_MAP_RC_CRC 78
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#define MAVLINK_MSG_ID_50_CRC 78
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#define MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN 16
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_PARAM_MAP_RC { \
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50, \
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"PARAM_MAP_RC", \
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9, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_param_map_rc_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_param_map_rc_t, target_component) }, \
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{ "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 20, offsetof(mavlink_param_map_rc_t, param_id) }, \
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{ "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_param_map_rc_t, param_index) }, \
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{ "parameter_rc_channel_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_param_map_rc_t, parameter_rc_channel_index) }, \
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{ "param_value0", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_map_rc_t, param_value0) }, \
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{ "scale", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_param_map_rc_t, scale) }, \
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{ "param_value_min", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_param_map_rc_t, param_value_min) }, \
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{ "param_value_max", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_param_map_rc_t, param_value_max) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_PARAM_MAP_RC { \
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"PARAM_MAP_RC", \
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9, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_param_map_rc_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_param_map_rc_t, target_component) }, \
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{ "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 20, offsetof(mavlink_param_map_rc_t, param_id) }, \
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{ "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_param_map_rc_t, param_index) }, \
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{ "parameter_rc_channel_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_param_map_rc_t, parameter_rc_channel_index) }, \
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{ "param_value0", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_map_rc_t, param_value0) }, \
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{ "scale", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_param_map_rc_t, scale) }, \
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{ "param_value_min", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_param_map_rc_t, param_value_min) }, \
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{ "param_value_max", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_param_map_rc_t, param_value_max) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a param_map_rc 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 target_system System ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
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* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
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* @param parameter_rc_channel_index Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
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* @param param_value0 Initial parameter value
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* @param scale Scale, maps the RC range [-1, 1] to a parameter value
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* @param param_value_min Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
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* @param param_value_max Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
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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_param_map_rc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
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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_PARAM_MAP_RC_LEN];
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_mav_put_float(buf, 0, param_value0);
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_mav_put_float(buf, 4, scale);
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_mav_put_float(buf, 8, param_value_min);
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_mav_put_float(buf, 12, param_value_max);
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_mav_put_int16_t(buf, 16, param_index);
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_mav_put_uint8_t(buf, 18, target_system);
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_mav_put_uint8_t(buf, 19, target_component);
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_mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
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_mav_put_char_array(buf, 20, param_id, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
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#else
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mavlink_param_map_rc_t packet;
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packet.param_value0 = param_value0;
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packet.scale = scale;
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packet.param_value_min = param_value_min;
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packet.param_value_max = param_value_max;
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packet.param_index = param_index;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.parameter_rc_channel_index = parameter_rc_channel_index;
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mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_MAP_RC;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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}
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/**
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* @brief Pack a param_map_rc 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 target_system System ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
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* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
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* @param parameter_rc_channel_index Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
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* @param param_value0 Initial parameter value
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* @param scale Scale, maps the RC range [-1, 1] to a parameter value
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* @param param_value_min Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
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* @param param_value_max Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
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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_param_map_rc_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 target_system,uint8_t target_component,const char *param_id,int16_t param_index,uint8_t parameter_rc_channel_index,float param_value0,float scale,float param_value_min,float param_value_max)
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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_PARAM_MAP_RC_LEN];
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_mav_put_float(buf, 0, param_value0);
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_mav_put_float(buf, 4, scale);
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_mav_put_float(buf, 8, param_value_min);
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_mav_put_float(buf, 12, param_value_max);
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_mav_put_int16_t(buf, 16, param_index);
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_mav_put_uint8_t(buf, 18, target_system);
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_mav_put_uint8_t(buf, 19, target_component);
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_mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
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_mav_put_char_array(buf, 20, param_id, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
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#else
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mavlink_param_map_rc_t packet;
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packet.param_value0 = param_value0;
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packet.scale = scale;
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packet.param_value_min = param_value_min;
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packet.param_value_max = param_value_max;
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packet.param_index = param_index;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.parameter_rc_channel_index = parameter_rc_channel_index;
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mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_MAP_RC;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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}
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/**
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* @brief Encode a param_map_rc 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 param_map_rc C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_param_map_rc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_map_rc_t* param_map_rc)
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{
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return mavlink_msg_param_map_rc_pack(system_id, component_id, msg, param_map_rc->target_system, param_map_rc->target_component, param_map_rc->param_id, param_map_rc->param_index, param_map_rc->parameter_rc_channel_index, param_map_rc->param_value0, param_map_rc->scale, param_map_rc->param_value_min, param_map_rc->param_value_max);
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}
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/**
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* @brief Encode a param_map_rc 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 param_map_rc C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_param_map_rc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_map_rc_t* param_map_rc)
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{
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return mavlink_msg_param_map_rc_pack_chan(system_id, component_id, chan, msg, param_map_rc->target_system, param_map_rc->target_component, param_map_rc->param_id, param_map_rc->param_index, param_map_rc->parameter_rc_channel_index, param_map_rc->param_value0, param_map_rc->scale, param_map_rc->param_value_min, param_map_rc->param_value_max);
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}
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/**
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* @brief Send a param_map_rc message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
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* @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
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* @param parameter_rc_channel_index Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
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* @param param_value0 Initial parameter value
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* @param scale Scale, maps the RC range [-1, 1] to a parameter value
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* @param param_value_min Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
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* @param param_value_max Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_param_map_rc_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
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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_PARAM_MAP_RC_LEN];
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_mav_put_float(buf, 0, param_value0);
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_mav_put_float(buf, 4, scale);
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_mav_put_float(buf, 8, param_value_min);
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_mav_put_float(buf, 12, param_value_max);
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_mav_put_int16_t(buf, 16, param_index);
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_mav_put_uint8_t(buf, 18, target_system);
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_mav_put_uint8_t(buf, 19, target_component);
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_mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
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_mav_put_char_array(buf, 20, param_id, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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#else
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mavlink_param_map_rc_t packet;
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packet.param_value0 = param_value0;
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packet.scale = scale;
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packet.param_value_min = param_value_min;
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packet.param_value_max = param_value_max;
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packet.param_index = param_index;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.parameter_rc_channel_index = parameter_rc_channel_index;
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mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)&packet, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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#endif
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}
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/**
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* @brief Send a param_map_rc 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_param_map_rc_send_struct(mavlink_channel_t chan, const mavlink_param_map_rc_t* param_map_rc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_param_map_rc_send(chan, param_map_rc->target_system, param_map_rc->target_component, param_map_rc->param_id, param_map_rc->param_index, param_map_rc->parameter_rc_channel_index, param_map_rc->param_value0, param_map_rc->scale, param_map_rc->param_value_min, param_map_rc->param_value_max);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)param_map_rc, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_PARAM_MAP_RC_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_param_map_rc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index, uint8_t parameter_rc_channel_index, float param_value0, float scale, float param_value_min, float param_value_max)
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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, param_value0);
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_mav_put_float(buf, 4, scale);
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_mav_put_float(buf, 8, param_value_min);
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_mav_put_float(buf, 12, param_value_max);
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_mav_put_int16_t(buf, 16, param_index);
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_mav_put_uint8_t(buf, 18, target_system);
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_mav_put_uint8_t(buf, 19, target_component);
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_mav_put_uint8_t(buf, 36, parameter_rc_channel_index);
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_mav_put_char_array(buf, 20, param_id, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, buf, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_CRC);
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#else
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mavlink_param_map_rc_t *packet = (mavlink_param_map_rc_t *)msgbuf;
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packet->param_value0 = param_value0;
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packet->scale = scale;
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packet->param_value_min = param_value_min;
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packet->param_value_max = param_value_max;
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packet->param_index = param_index;
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packet->target_system = target_system;
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packet->target_component = target_component;
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packet->parameter_rc_channel_index = parameter_rc_channel_index;
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mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_MAP_RC, (const char *)packet, MAVLINK_MSG_ID_PARAM_MAP_RC_MIN_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN, MAVLINK_MSG_ID_PARAM_MAP_RC_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 PARAM_MAP_RC UNPACKING
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|
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/**
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* @brief Get field target_system from param_map_rc message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_param_map_rc_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 18);
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}
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/**
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* @brief Get field target_component from param_map_rc message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_param_map_rc_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 19);
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}
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/**
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* @brief Get field param_id from param_map_rc message
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*
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* @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
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*/
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static inline uint16_t mavlink_msg_param_map_rc_get_param_id(const mavlink_message_t* msg, char *param_id)
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{
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return _MAV_RETURN_char_array(msg, param_id, 16, 20);
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}
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/**
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* @brief Get field param_index from param_map_rc message
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*
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* @return Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
|
*/
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static inline int16_t mavlink_msg_param_map_rc_get_param_index(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 16);
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}
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/**
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* @brief Get field parameter_rc_channel_index from param_map_rc message
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*
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* @return Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
|
*/
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static inline uint8_t mavlink_msg_param_map_rc_get_parameter_rc_channel_index(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 36);
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}
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/**
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* @brief Get field param_value0 from param_map_rc message
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*
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* @return Initial parameter value
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*/
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static inline float mavlink_msg_param_map_rc_get_param_value0(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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* @brief Get field scale from param_map_rc message
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*
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* @return Scale, maps the RC range [-1, 1] to a parameter value
|
*/
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static inline float mavlink_msg_param_map_rc_get_scale(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 Get field param_value_min from param_map_rc message
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*
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* @return Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
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*/
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static inline float mavlink_msg_param_map_rc_get_param_value_min(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field param_value_max from param_map_rc message
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*
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* @return Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
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*/
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static inline float mavlink_msg_param_map_rc_get_param_value_max(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Decode a param_map_rc message into a struct
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*
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* @param msg The message to decode
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* @param param_map_rc C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_param_map_rc_decode(const mavlink_message_t* msg, mavlink_param_map_rc_t* param_map_rc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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param_map_rc->param_value0 = mavlink_msg_param_map_rc_get_param_value0(msg);
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param_map_rc->scale = mavlink_msg_param_map_rc_get_scale(msg);
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param_map_rc->param_value_min = mavlink_msg_param_map_rc_get_param_value_min(msg);
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param_map_rc->param_value_max = mavlink_msg_param_map_rc_get_param_value_max(msg);
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param_map_rc->param_index = mavlink_msg_param_map_rc_get_param_index(msg);
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param_map_rc->target_system = mavlink_msg_param_map_rc_get_target_system(msg);
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param_map_rc->target_component = mavlink_msg_param_map_rc_get_target_component(msg);
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mavlink_msg_param_map_rc_get_param_id(msg, param_map_rc->param_id);
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param_map_rc->parameter_rc_channel_index = mavlink_msg_param_map_rc_get_parameter_rc_channel_index(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_PARAM_MAP_RC_LEN? msg->len : MAVLINK_MSG_ID_PARAM_MAP_RC_LEN;
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memset(param_map_rc, 0, MAVLINK_MSG_ID_PARAM_MAP_RC_LEN);
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memcpy(param_map_rc, _MAV_PAYLOAD(msg), len);
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#endif
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}
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