#pragma once
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// MESSAGE WHEEL_DISTANCE PACKING
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#define MAVLINK_MSG_ID_WHEEL_DISTANCE 9000
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typedef struct __mavlink_wheel_distance_t {
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uint64_t time_usec; /*< [us] Timestamp (synced to UNIX time or since system boot).*/
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double distance[16]; /*< [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.*/
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uint8_t count; /*< Number of wheels reported.*/
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} mavlink_wheel_distance_t;
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#define MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN 137
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#define MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN 137
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#define MAVLINK_MSG_ID_9000_LEN 137
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#define MAVLINK_MSG_ID_9000_MIN_LEN 137
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#define MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC 113
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#define MAVLINK_MSG_ID_9000_CRC 113
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#define MAVLINK_MSG_WHEEL_DISTANCE_FIELD_DISTANCE_LEN 16
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_WHEEL_DISTANCE { \
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9000, \
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"WHEEL_DISTANCE", \
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3, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wheel_distance_t, time_usec) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 136, offsetof(mavlink_wheel_distance_t, count) }, \
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{ "distance", NULL, MAVLINK_TYPE_DOUBLE, 16, 8, offsetof(mavlink_wheel_distance_t, distance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_WHEEL_DISTANCE { \
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"WHEEL_DISTANCE", \
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3, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wheel_distance_t, time_usec) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 136, offsetof(mavlink_wheel_distance_t, count) }, \
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{ "distance", NULL, MAVLINK_TYPE_DOUBLE, 16, 8, offsetof(mavlink_wheel_distance_t, distance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a wheel_distance 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 (synced to UNIX time or since system boot).
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* @param count Number of wheels reported.
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* @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
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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_wheel_distance_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t count, const double *distance)
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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_WHEEL_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 136, count);
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_mav_put_double_array(buf, 8, distance, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
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#else
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mavlink_wheel_distance_t packet;
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packet.time_usec = time_usec;
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packet.count = count;
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mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WHEEL_DISTANCE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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}
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/**
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* @brief Pack a wheel_distance 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 (synced to UNIX time or since system boot).
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* @param count Number of wheels reported.
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* @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
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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_wheel_distance_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,uint8_t count,const double *distance)
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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_WHEEL_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 136, count);
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_mav_put_double_array(buf, 8, distance, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
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#else
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mavlink_wheel_distance_t packet;
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packet.time_usec = time_usec;
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packet.count = count;
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mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WHEEL_DISTANCE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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}
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/**
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* @brief Encode a wheel_distance 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 wheel_distance C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_wheel_distance_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wheel_distance_t* wheel_distance)
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{
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return mavlink_msg_wheel_distance_pack(system_id, component_id, msg, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
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}
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/**
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* @brief Encode a wheel_distance 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 wheel_distance C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_wheel_distance_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wheel_distance_t* wheel_distance)
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{
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return mavlink_msg_wheel_distance_pack_chan(system_id, component_id, chan, msg, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
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}
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/**
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* @brief Send a wheel_distance 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 (synced to UNIX time or since system boot).
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* @param count Number of wheels reported.
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* @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_wheel_distance_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t count, const double *distance)
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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_WHEEL_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint8_t(buf, 136, count);
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_mav_put_double_array(buf, 8, distance, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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#else
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mavlink_wheel_distance_t packet;
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packet.time_usec = time_usec;
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packet.count = count;
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mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)&packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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#endif
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}
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/**
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* @brief Send a wheel_distance 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_wheel_distance_send_struct(mavlink_channel_t chan, const mavlink_wheel_distance_t* wheel_distance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_wheel_distance_send(chan, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)wheel_distance, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_WHEEL_DISTANCE_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_wheel_distance_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t count, const double *distance)
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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, 136, count);
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_mav_put_double_array(buf, 8, distance, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
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#else
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mavlink_wheel_distance_t *packet = (mavlink_wheel_distance_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->count = count;
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mav_array_memcpy(packet->distance, distance, sizeof(double)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_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 WHEEL_DISTANCE UNPACKING
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/**
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* @brief Get field time_usec from wheel_distance message
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*
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* @return [us] Timestamp (synced to UNIX time or since system boot).
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*/
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static inline uint64_t mavlink_msg_wheel_distance_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 count from wheel_distance message
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*
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* @return Number of wheels reported.
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*/
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static inline uint8_t mavlink_msg_wheel_distance_get_count(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 136);
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}
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/**
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* @brief Get field distance from wheel_distance message
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*
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* @return [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
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*/
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static inline uint16_t mavlink_msg_wheel_distance_get_distance(const mavlink_message_t* msg, double *distance)
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{
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return _MAV_RETURN_double_array(msg, distance, 16, 8);
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}
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/**
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* @brief Decode a wheel_distance message into a struct
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*
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* @param msg The message to decode
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* @param wheel_distance C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_wheel_distance_decode(const mavlink_message_t* msg, mavlink_wheel_distance_t* wheel_distance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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wheel_distance->time_usec = mavlink_msg_wheel_distance_get_time_usec(msg);
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mavlink_msg_wheel_distance_get_distance(msg, wheel_distance->distance);
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wheel_distance->count = mavlink_msg_wheel_distance_get_count(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN? msg->len : MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN;
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memset(wheel_distance, 0, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
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memcpy(wheel_distance, _MAV_PAYLOAD(msg), len);
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#endif
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}
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