#pragma once
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// MESSAGE WINCH_STATUS PACKING
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#define MAVLINK_MSG_ID_WINCH_STATUS 9005
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typedef struct __mavlink_winch_status_t {
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uint64_t time_usec; /*< [us] Timestamp (synced to UNIX time or since system boot).*/
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float line_length; /*< [m] Length of line released. NaN if unknown*/
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float speed; /*< [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown*/
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float tension; /*< [kg] Tension on the line. NaN if unknown*/
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float voltage; /*< [V] Voltage of the battery supplying the winch. NaN if unknown*/
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float current; /*< [A] Current draw from the winch. NaN if unknown*/
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uint32_t status; /*< Status flags*/
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int16_t temperature; /*< [degC] Temperature of the motor. INT16_MAX if unknown*/
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} mavlink_winch_status_t;
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#define MAVLINK_MSG_ID_WINCH_STATUS_LEN 34
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#define MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN 34
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#define MAVLINK_MSG_ID_9005_LEN 34
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#define MAVLINK_MSG_ID_9005_MIN_LEN 34
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#define MAVLINK_MSG_ID_WINCH_STATUS_CRC 117
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#define MAVLINK_MSG_ID_9005_CRC 117
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_WINCH_STATUS { \
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9005, \
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"WINCH_STATUS", \
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8, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_winch_status_t, time_usec) }, \
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{ "line_length", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_winch_status_t, line_length) }, \
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{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_winch_status_t, speed) }, \
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{ "tension", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_winch_status_t, tension) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_winch_status_t, voltage) }, \
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{ "current", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_winch_status_t, current) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_winch_status_t, temperature) }, \
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{ "status", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_winch_status_t, status) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_WINCH_STATUS { \
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"WINCH_STATUS", \
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8, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_winch_status_t, time_usec) }, \
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{ "line_length", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_winch_status_t, line_length) }, \
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{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_winch_status_t, speed) }, \
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{ "tension", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_winch_status_t, tension) }, \
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{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_winch_status_t, voltage) }, \
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{ "current", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_winch_status_t, current) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_winch_status_t, temperature) }, \
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{ "status", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_winch_status_t, status) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a winch_status message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
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* @param line_length [m] Length of line released. NaN if unknown
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* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
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* @param tension [kg] Tension on the line. NaN if unknown
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* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
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* @param current [A] Current draw from the winch. NaN if unknown
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* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
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* @param status Status flags
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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_winch_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
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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_WINCH_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, line_length);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, tension);
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_mav_put_float(buf, 20, voltage);
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_mav_put_float(buf, 24, current);
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_mav_put_uint32_t(buf, 28, status);
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_mav_put_int16_t(buf, 32, temperature);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
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#else
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mavlink_winch_status_t packet;
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packet.time_usec = time_usec;
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packet.line_length = line_length;
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packet.speed = speed;
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packet.tension = tension;
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packet.voltage = voltage;
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packet.current = current;
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packet.status = status;
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packet.temperature = temperature;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WINCH_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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}
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/**
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* @brief Pack a winch_status message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
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* @param line_length [m] Length of line released. NaN if unknown
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* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
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* @param tension [kg] Tension on the line. NaN if unknown
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* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
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* @param current [A] Current draw from the winch. NaN if unknown
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* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
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* @param status Status flags
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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_winch_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,float line_length,float speed,float tension,float voltage,float current,int16_t temperature,uint32_t status)
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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_WINCH_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, line_length);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, tension);
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_mav_put_float(buf, 20, voltage);
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_mav_put_float(buf, 24, current);
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_mav_put_uint32_t(buf, 28, status);
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_mav_put_int16_t(buf, 32, temperature);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
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#else
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mavlink_winch_status_t packet;
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packet.time_usec = time_usec;
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packet.line_length = line_length;
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packet.speed = speed;
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packet.tension = tension;
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packet.voltage = voltage;
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packet.current = current;
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packet.status = status;
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packet.temperature = temperature;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WINCH_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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}
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/**
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* @brief Encode a winch_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 winch_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_winch_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_winch_status_t* winch_status)
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{
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return mavlink_msg_winch_status_pack(system_id, component_id, msg, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
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}
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/**
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* @brief Encode a winch_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 winch_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_winch_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_winch_status_t* winch_status)
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{
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return mavlink_msg_winch_status_pack_chan(system_id, component_id, chan, msg, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
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}
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/**
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* @brief Send a winch_status message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
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* @param line_length [m] Length of line released. NaN if unknown
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* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
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* @param tension [kg] Tension on the line. NaN if unknown
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* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
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* @param current [A] Current draw from the winch. NaN if unknown
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* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
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* @param status Status flags
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_winch_status_send(mavlink_channel_t chan, uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
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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_WINCH_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, line_length);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, tension);
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_mav_put_float(buf, 20, voltage);
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_mav_put_float(buf, 24, current);
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_mav_put_uint32_t(buf, 28, status);
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_mav_put_int16_t(buf, 32, temperature);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, buf, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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#else
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mavlink_winch_status_t packet;
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packet.time_usec = time_usec;
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packet.line_length = line_length;
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packet.speed = speed;
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packet.tension = tension;
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packet.voltage = voltage;
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packet.current = current;
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packet.status = status;
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packet.temperature = temperature;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)&packet, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a winch_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_winch_status_send_struct(mavlink_channel_t chan, const mavlink_winch_status_t* winch_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_winch_status_send(chan, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)winch_status, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_WINCH_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_winch_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
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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_float(buf, 8, line_length);
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_mav_put_float(buf, 12, speed);
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_mav_put_float(buf, 16, tension);
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_mav_put_float(buf, 20, voltage);
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_mav_put_float(buf, 24, current);
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_mav_put_uint32_t(buf, 28, status);
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_mav_put_int16_t(buf, 32, temperature);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, buf, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
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#else
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mavlink_winch_status_t *packet = (mavlink_winch_status_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->line_length = line_length;
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packet->speed = speed;
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packet->tension = tension;
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packet->voltage = voltage;
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packet->current = current;
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packet->status = status;
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packet->temperature = temperature;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)packet, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_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 WINCH_STATUS UNPACKING
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/**
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* @brief Get field time_usec from winch_status 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_winch_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 line_length from winch_status message
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*
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* @return [m] Length of line released. NaN if unknown
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*/
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static inline float mavlink_msg_winch_status_get_line_length(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 speed from winch_status message
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*
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* @return [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
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*/
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static inline float mavlink_msg_winch_status_get_speed(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 Get field tension from winch_status message
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*
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* @return [kg] Tension on the line. NaN if unknown
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*/
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static inline float mavlink_msg_winch_status_get_tension(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field voltage from winch_status message
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*
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* @return [V] Voltage of the battery supplying the winch. NaN if unknown
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*/
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static inline float mavlink_msg_winch_status_get_voltage(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field current from winch_status message
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*
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* @return [A] Current draw from the winch. NaN if unknown
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*/
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static inline float mavlink_msg_winch_status_get_current(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field temperature from winch_status message
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*
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* @return [degC] Temperature of the motor. INT16_MAX if unknown
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*/
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static inline int16_t mavlink_msg_winch_status_get_temperature(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 32);
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}
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/**
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* @brief Get field status from winch_status message
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*
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* @return Status flags
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*/
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static inline uint32_t mavlink_msg_winch_status_get_status(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 28);
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}
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/**
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* @brief Decode a winch_status message into a struct
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*
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* @param msg The message to decode
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* @param winch_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_winch_status_decode(const mavlink_message_t* msg, mavlink_winch_status_t* winch_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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winch_status->time_usec = mavlink_msg_winch_status_get_time_usec(msg);
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winch_status->line_length = mavlink_msg_winch_status_get_line_length(msg);
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winch_status->speed = mavlink_msg_winch_status_get_speed(msg);
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winch_status->tension = mavlink_msg_winch_status_get_tension(msg);
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winch_status->voltage = mavlink_msg_winch_status_get_voltage(msg);
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winch_status->current = mavlink_msg_winch_status_get_current(msg);
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winch_status->status = mavlink_msg_winch_status_get_status(msg);
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winch_status->temperature = mavlink_msg_winch_status_get_temperature(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_WINCH_STATUS_LEN? msg->len : MAVLINK_MSG_ID_WINCH_STATUS_LEN;
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memset(winch_status, 0, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
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memcpy(winch_status, _MAV_PAYLOAD(msg), len);
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#endif
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}
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