// MESSAGE SERVO_OUTPUT_RAW PACKING #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36 typedef struct __mavlink_servo_output_raw_t { uint32_t time_boot_ms; ///< Timestamp (microseconds since system boot) uint16_t servo1_raw; ///< Servo output 1 value, in microseconds uint16_t servo2_raw; ///< Servo output 2 value, in microseconds uint16_t servo3_raw; ///< Servo output 3 value, in microseconds uint16_t servo4_raw; ///< Servo output 4 value, in microseconds uint16_t servo5_raw; ///< Servo output 5 value, in microseconds uint16_t servo6_raw; ///< Servo output 6 value, in microseconds uint16_t servo7_raw; ///< Servo output 7 value, in microseconds uint16_t servo8_raw; ///< Servo output 8 value, in microseconds uint8_t port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. } mavlink_servo_output_raw_t; #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21 #define MAVLINK_MSG_ID_36_LEN 21 #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \ "SERVO_OUTPUT_RAW", \ 10, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_boot_ms) }, \ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \ { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \ { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \ { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \ { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \ { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \ { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \ { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \ { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \ } \ } /** * @brief Pack a servo_output_raw message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); #else mavlink_servo_output_raw_t packet; packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; return mavlink_finalize_message(msg, system_id, component_id, 21, 242); } /** * @brief Pack a servo_output_raw message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,uint8_t port,uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21); #else mavlink_servo_output_raw_t packet; packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21); #endif msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 242); } /** * @brief Encode a servo_output_raw struct into a message * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param servo_output_raw C-struct to read the message contents from */ static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw) { return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_boot_ms, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw); } /** * @brief Send a servo_output_raw message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (microseconds since system boot) * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. * @param servo1_raw Servo output 1 value, in microseconds * @param servo2_raw Servo output 2 value, in microseconds * @param servo3_raw Servo output 3 value, in microseconds * @param servo4_raw Servo output 4 value, in microseconds * @param servo5_raw Servo output 5 value, in microseconds * @param servo6_raw Servo output 6 value, in microseconds * @param servo7_raw Servo output 7 value, in microseconds * @param servo8_raw Servo output 8 value, in microseconds */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[21]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_uint16_t(buf, 4, servo1_raw); _mav_put_uint16_t(buf, 6, servo2_raw); _mav_put_uint16_t(buf, 8, servo3_raw); _mav_put_uint16_t(buf, 10, servo4_raw); _mav_put_uint16_t(buf, 12, servo5_raw); _mav_put_uint16_t(buf, 14, servo6_raw); _mav_put_uint16_t(buf, 16, servo7_raw); _mav_put_uint16_t(buf, 18, servo8_raw); _mav_put_uint8_t(buf, 20, port); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 242); #else mavlink_servo_output_raw_t packet; packet.time_boot_ms = time_boot_ms; packet.servo1_raw = servo1_raw; packet.servo2_raw = servo2_raw; packet.servo3_raw = servo3_raw; packet.servo4_raw = servo4_raw; packet.servo5_raw = servo5_raw; packet.servo6_raw = servo6_raw; packet.servo7_raw = servo7_raw; packet.servo8_raw = servo8_raw; packet.port = port; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 242); #endif } #endif // MESSAGE SERVO_OUTPUT_RAW UNPACKING /** * @brief Get field time_boot_ms from servo_output_raw message * * @return Timestamp (microseconds since system boot) */ static inline uint32_t mavlink_msg_servo_output_raw_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field port from servo_output_raw message * * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. */ static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 20); } /** * @brief Get field servo1_raw from servo_output_raw message * * @return Servo output 1 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 4); } /** * @brief Get field servo2_raw from servo_output_raw message * * @return Servo output 2 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 6); } /** * @brief Get field servo3_raw from servo_output_raw message * * @return Servo output 3 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 8); } /** * @brief Get field servo4_raw from servo_output_raw message * * @return Servo output 4 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 10); } /** * @brief Get field servo5_raw from servo_output_raw message * * @return Servo output 5 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 12); } /** * @brief Get field servo6_raw from servo_output_raw message * * @return Servo output 6 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 14); } /** * @brief Get field servo7_raw from servo_output_raw message * * @return Servo output 7 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 16); } /** * @brief Get field servo8_raw from servo_output_raw message * * @return Servo output 8 value, in microseconds */ static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 18); } /** * @brief Decode a servo_output_raw message into a struct * * @param msg The message to decode * @param servo_output_raw C-struct to decode the message contents into */ static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw) { #if MAVLINK_NEED_BYTE_SWAP servo_output_raw->time_boot_ms = mavlink_msg_servo_output_raw_get_time_boot_ms(msg); servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg); servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg); servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg); servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg); servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg); servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg); servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg); servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg); servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg); #else memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 21); #endif }