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mavlink_msg_param_value.h
1#pragma once
2// MESSAGE PARAM_VALUE PACKING
3
4#define MAVLINK_MSG_ID_PARAM_VALUE 22
5
6MAVPACKED(
7typedef struct __mavlink_param_value_t {
8 float param_value; /*< Onboard parameter value*/
9 uint16_t param_count; /*< Total number of onboard parameters*/
10 uint16_t param_index; /*< Index of this onboard parameter*/
11 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*/
12 uint8_t param_type; /*< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.*/
13}) mavlink_param_value_t;
14
15#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
16#define MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN 25
17#define MAVLINK_MSG_ID_22_LEN 25
18#define MAVLINK_MSG_ID_22_MIN_LEN 25
19
20#define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220
21#define MAVLINK_MSG_ID_22_CRC 220
22
23#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
24
25#if MAVLINK_COMMAND_24BIT
26#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
27 22, \
28 "PARAM_VALUE", \
29 5, \
30 { { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
31 { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
32 { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
33 { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
34 { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
35 } \
36}
37#else
38#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
39 "PARAM_VALUE", \
40 5, \
41 { { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
42 { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
43 { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
44 { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
45 { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
46 } \
47}
48#endif
49
50/**
51 * @brief Pack a param_value message
52 * @param system_id ID of this system
53 * @param component_id ID of this component (e.g. 200 for IMU)
54 * @param msg The MAVLink message to compress the data into
55 *
56 * @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
57 * @param param_value Onboard parameter value
58 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
59 * @param param_count Total number of onboard parameters
60 * @param param_index Index of this onboard parameter
61 * @return length of the message in bytes (excluding serial stream start sign)
62 */
63static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
64 const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
65{
66#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
67 char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
68 _mav_put_float(buf, 0, param_value);
69 _mav_put_uint16_t(buf, 4, param_count);
70 _mav_put_uint16_t(buf, 6, param_index);
71 _mav_put_uint8_t(buf, 24, param_type);
72 _mav_put_char_array(buf, 8, param_id, 16);
73 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
74#else
75 mavlink_param_value_t packet;
76 packet.param_value = param_value;
77 packet.param_count = param_count;
78 packet.param_index = param_index;
79 packet.param_type = param_type;
80 mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
81 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
82#endif
83
84 msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
85 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
86}
87
88/**
89 * @brief Pack a param_value message on a channel
90 * @param system_id ID of this system
91 * @param component_id ID of this component (e.g. 200 for IMU)
92 * @param chan The MAVLink channel this message will be sent over
93 * @param msg The MAVLink message to compress the data into
94 * @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
95 * @param param_value Onboard parameter value
96 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
97 * @param param_count Total number of onboard parameters
98 * @param param_index Index of this onboard parameter
99 * @return length of the message in bytes (excluding serial stream start sign)
100 */
101static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
102 mavlink_message_t* msg,
103 const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
104{
105#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
106 char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
107 _mav_put_float(buf, 0, param_value);
108 _mav_put_uint16_t(buf, 4, param_count);
109 _mav_put_uint16_t(buf, 6, param_index);
110 _mav_put_uint8_t(buf, 24, param_type);
111 _mav_put_char_array(buf, 8, param_id, 16);
112 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
113#else
114 mavlink_param_value_t packet;
115 packet.param_value = param_value;
116 packet.param_count = param_count;
117 packet.param_index = param_index;
118 packet.param_type = param_type;
119 mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
120 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
121#endif
122
123 msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
124 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
125}
126
127/**
128 * @brief Encode a param_value struct
129 *
130 * @param system_id ID of this system
131 * @param component_id ID of this component (e.g. 200 for IMU)
132 * @param msg The MAVLink message to compress the data into
133 * @param param_value C-struct to read the message contents from
134 */
135static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
136{
137 return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
138}
139
140/**
141 * @brief Encode a param_value struct on a channel
142 *
143 * @param system_id ID of this system
144 * @param component_id ID of this component (e.g. 200 for IMU)
145 * @param chan The MAVLink channel this message will be sent over
146 * @param msg The MAVLink message to compress the data into
147 * @param param_value C-struct to read the message contents from
148 */
149static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
150{
151 return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
152}
153
154/**
155 * @brief Send a param_value message
156 * @param chan MAVLink channel to send the message
157 *
158 * @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
159 * @param param_value Onboard parameter value
160 * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
161 * @param param_count Total number of onboard parameters
162 * @param param_index Index of this onboard parameter
163 */
164#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
165
166static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
167{
168#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
169 char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
170 _mav_put_float(buf, 0, param_value);
171 _mav_put_uint16_t(buf, 4, param_count);
172 _mav_put_uint16_t(buf, 6, param_index);
173 _mav_put_uint8_t(buf, 24, param_type);
174 _mav_put_char_array(buf, 8, param_id, 16);
175 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
176#else
177 mavlink_param_value_t packet;
178 packet.param_value = param_value;
179 packet.param_count = param_count;
180 packet.param_index = param_index;
181 packet.param_type = param_type;
182 mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
183 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
184#endif
185}
186
187/**
188 * @brief Send a param_value message
189 * @param chan MAVLink channel to send the message
190 * @param struct The MAVLink struct to serialize
191 */
192static inline void mavlink_msg_param_value_send_struct(mavlink_channel_t chan, const mavlink_param_value_t* param_value)
193{
194#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
195 mavlink_msg_param_value_send(chan, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
196#else
197 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)param_value, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
198#endif
199}
200
201#if MAVLINK_MSG_ID_PARAM_VALUE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
202/*
203 This varient of _send() can be used to save stack space by re-using
204 memory from the receive buffer. The caller provides a
205 mavlink_message_t which is the size of a full mavlink message. This
206 is usually the receive buffer for the channel, and allows a reply to an
207 incoming message with minimum stack space usage.
208 */
209static inline void mavlink_msg_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
210{
211#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
212 char *buf = (char *)msgbuf;
213 _mav_put_float(buf, 0, param_value);
214 _mav_put_uint16_t(buf, 4, param_count);
215 _mav_put_uint16_t(buf, 6, param_index);
216 _mav_put_uint8_t(buf, 24, param_type);
217 _mav_put_char_array(buf, 8, param_id, 16);
218 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
219#else
220 mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf;
221 packet->param_value = param_value;
222 packet->param_count = param_count;
223 packet->param_index = param_index;
224 packet->param_type = param_type;
225 mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16);
226 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_MIN_LEN, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
227#endif
228}
229#endif
230
231#endif
232
233// MESSAGE PARAM_VALUE UNPACKING
234
235
236/**
237 * @brief Get field param_id from param_value message
238 *
239 * @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
240 */
241static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
242{
243 return _MAV_RETURN_char_array(msg, param_id, 16, 8);
244}
245
246/**
247 * @brief Get field param_value from param_value message
248 *
249 * @return Onboard parameter value
250 */
251static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
252{
253 return _MAV_RETURN_float(msg, 0);
254}
255
256/**
257 * @brief Get field param_type from param_value message
258 *
259 * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
260 */
261static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
262{
263 return _MAV_RETURN_uint8_t(msg, 24);
264}
265
266/**
267 * @brief Get field param_count from param_value message
268 *
269 * @return Total number of onboard parameters
270 */
271static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
272{
273 return _MAV_RETURN_uint16_t(msg, 4);
274}
275
276/**
277 * @brief Get field param_index from param_value message
278 *
279 * @return Index of this onboard parameter
280 */
281static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
282{
283 return _MAV_RETURN_uint16_t(msg, 6);
284}
285
286/**
287 * @brief Decode a param_value message into a struct
288 *
289 * @param msg The message to decode
290 * @param param_value C-struct to decode the message contents into
291 */
292static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
293{
294#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
295 param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
296 param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
297 param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
298 mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
299 param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
300#else
301 uint8_t len = msg->len < MAVLINK_MSG_ID_PARAM_VALUE_LEN? msg->len : MAVLINK_MSG_ID_PARAM_VALUE_LEN;
302 memset(param_value, 0, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
303 memcpy(param_value, _MAV_PAYLOAD(msg), len);
304#endif
305}
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