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mavlink_msg_rc_channels_raw.h
1#pragma once
2// MESSAGE RC_CHANNELS_RAW PACKING
3
4#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
5
6MAVPACKED(
7typedef struct __mavlink_rc_channels_raw_t {
8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
9 uint16_t chan1_raw; /*< RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
10 uint16_t chan2_raw; /*< RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
11 uint16_t chan3_raw; /*< RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
12 uint16_t chan4_raw; /*< RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
13 uint16_t chan5_raw; /*< RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
14 uint16_t chan6_raw; /*< RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
15 uint16_t chan7_raw; /*< RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
16 uint16_t chan8_raw; /*< RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.*/
17 uint8_t port; /*< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.*/
18 uint8_t rssi; /*< Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.*/
19}) mavlink_rc_channels_raw_t;
20
21#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 22
22#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN 22
23#define MAVLINK_MSG_ID_35_LEN 22
24#define MAVLINK_MSG_ID_35_MIN_LEN 22
25
26#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC 244
27#define MAVLINK_MSG_ID_35_CRC 244
28
29
30
31#if MAVLINK_COMMAND_24BIT
32#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
33 35, \
34 "RC_CHANNELS_RAW", \
35 11, \
36 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \
37 { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \
38 { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
39 { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
40 { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
41 { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
42 { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
43 { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
44 { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
45 { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
46 { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
47 } \
48}
49#else
50#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
51 "RC_CHANNELS_RAW", \
52 11, \
53 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \
54 { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \
55 { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
56 { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
57 { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
58 { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
59 { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
60 { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
61 { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
62 { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
63 { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
64 } \
65}
66#endif
67
87static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
88 uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
89{
90#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
91 char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
92 _mav_put_uint32_t(buf, 0, time_boot_ms);
93 _mav_put_uint16_t(buf, 4, chan1_raw);
94 _mav_put_uint16_t(buf, 6, chan2_raw);
95 _mav_put_uint16_t(buf, 8, chan3_raw);
96 _mav_put_uint16_t(buf, 10, chan4_raw);
97 _mav_put_uint16_t(buf, 12, chan5_raw);
98 _mav_put_uint16_t(buf, 14, chan6_raw);
99 _mav_put_uint16_t(buf, 16, chan7_raw);
100 _mav_put_uint16_t(buf, 18, chan8_raw);
101 _mav_put_uint8_t(buf, 20, port);
102 _mav_put_uint8_t(buf, 21, rssi);
103
104 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
105#else
106 mavlink_rc_channels_raw_t packet;
107 packet.time_boot_ms = time_boot_ms;
108 packet.chan1_raw = chan1_raw;
109 packet.chan2_raw = chan2_raw;
110 packet.chan3_raw = chan3_raw;
111 packet.chan4_raw = chan4_raw;
112 packet.chan5_raw = chan5_raw;
113 packet.chan6_raw = chan6_raw;
114 packet.chan7_raw = chan7_raw;
115 packet.chan8_raw = chan8_raw;
116 packet.port = port;
117 packet.rssi = rssi;
118
119 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
120#endif
121
122 msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
123 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
124}
125
145static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
146 mavlink_message_t* msg,
147 uint32_t time_boot_ms,uint8_t port,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi)
148{
149#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
150 char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
151 _mav_put_uint32_t(buf, 0, time_boot_ms);
152 _mav_put_uint16_t(buf, 4, chan1_raw);
153 _mav_put_uint16_t(buf, 6, chan2_raw);
154 _mav_put_uint16_t(buf, 8, chan3_raw);
155 _mav_put_uint16_t(buf, 10, chan4_raw);
156 _mav_put_uint16_t(buf, 12, chan5_raw);
157 _mav_put_uint16_t(buf, 14, chan6_raw);
158 _mav_put_uint16_t(buf, 16, chan7_raw);
159 _mav_put_uint16_t(buf, 18, chan8_raw);
160 _mav_put_uint8_t(buf, 20, port);
161 _mav_put_uint8_t(buf, 21, rssi);
162
163 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
164#else
165 mavlink_rc_channels_raw_t packet;
166 packet.time_boot_ms = time_boot_ms;
167 packet.chan1_raw = chan1_raw;
168 packet.chan2_raw = chan2_raw;
169 packet.chan3_raw = chan3_raw;
170 packet.chan4_raw = chan4_raw;
171 packet.chan5_raw = chan5_raw;
172 packet.chan6_raw = chan6_raw;
173 packet.chan7_raw = chan7_raw;
174 packet.chan8_raw = chan8_raw;
175 packet.port = port;
176 packet.rssi = rssi;
177
178 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
179#endif
180
181 msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
182 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
183}
184
193static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
194{
195 return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
196}
197
207static inline uint16_t mavlink_msg_rc_channels_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
208{
209 return mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, chan, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
210}
211
228#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
229
230static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
231{
232#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
233 char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
234 _mav_put_uint32_t(buf, 0, time_boot_ms);
235 _mav_put_uint16_t(buf, 4, chan1_raw);
236 _mav_put_uint16_t(buf, 6, chan2_raw);
237 _mav_put_uint16_t(buf, 8, chan3_raw);
238 _mav_put_uint16_t(buf, 10, chan4_raw);
239 _mav_put_uint16_t(buf, 12, chan5_raw);
240 _mav_put_uint16_t(buf, 14, chan6_raw);
241 _mav_put_uint16_t(buf, 16, chan7_raw);
242 _mav_put_uint16_t(buf, 18, chan8_raw);
243 _mav_put_uint8_t(buf, 20, port);
244 _mav_put_uint8_t(buf, 21, rssi);
245
246 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
247#else
248 mavlink_rc_channels_raw_t packet;
249 packet.time_boot_ms = time_boot_ms;
250 packet.chan1_raw = chan1_raw;
251 packet.chan2_raw = chan2_raw;
252 packet.chan3_raw = chan3_raw;
253 packet.chan4_raw = chan4_raw;
254 packet.chan5_raw = chan5_raw;
255 packet.chan6_raw = chan6_raw;
256 packet.chan7_raw = chan7_raw;
257 packet.chan8_raw = chan8_raw;
258 packet.port = port;
259 packet.rssi = rssi;
260
261 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
262#endif
263}
264
270static inline void mavlink_msg_rc_channels_raw_send_struct(mavlink_channel_t chan, const mavlink_rc_channels_raw_t* rc_channels_raw)
271{
272#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
273 mavlink_msg_rc_channels_raw_send(chan, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
274#else
275 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)rc_channels_raw, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
276#endif
277}
278
279#if MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
280/*
281 This varient of _send() can be used to save stack space by re-using
282 memory from the receive buffer. The caller provides a
283 mavlink_message_t which is the size of a full mavlink message. This
284 is usually the receive buffer for the channel, and allows a reply to an
285 incoming message with minimum stack space usage.
286 */
287static inline void mavlink_msg_rc_channels_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
288{
289#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
290 char *buf = (char *)msgbuf;
291 _mav_put_uint32_t(buf, 0, time_boot_ms);
292 _mav_put_uint16_t(buf, 4, chan1_raw);
293 _mav_put_uint16_t(buf, 6, chan2_raw);
294 _mav_put_uint16_t(buf, 8, chan3_raw);
295 _mav_put_uint16_t(buf, 10, chan4_raw);
296 _mav_put_uint16_t(buf, 12, chan5_raw);
297 _mav_put_uint16_t(buf, 14, chan6_raw);
298 _mav_put_uint16_t(buf, 16, chan7_raw);
299 _mav_put_uint16_t(buf, 18, chan8_raw);
300 _mav_put_uint8_t(buf, 20, port);
301 _mav_put_uint8_t(buf, 21, rssi);
302
303 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
304#else
305 mavlink_rc_channels_raw_t *packet = (mavlink_rc_channels_raw_t *)msgbuf;
306 packet->time_boot_ms = time_boot_ms;
307 packet->chan1_raw = chan1_raw;
308 packet->chan2_raw = chan2_raw;
309 packet->chan3_raw = chan3_raw;
310 packet->chan4_raw = chan4_raw;
311 packet->chan5_raw = chan5_raw;
312 packet->chan6_raw = chan6_raw;
313 packet->chan7_raw = chan7_raw;
314 packet->chan8_raw = chan8_raw;
315 packet->port = port;
316 packet->rssi = rssi;
317
318 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_MIN_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
319#endif
320}
321#endif
322
323#endif
324
325// MESSAGE RC_CHANNELS_RAW UNPACKING
326
327
333static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlink_message_t* msg)
334{
335 return _MAV_RETURN_uint32_t(msg, 0);
336}
337
343static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg)
344{
345 return _MAV_RETURN_uint8_t(msg, 20);
346}
347
353static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
354{
355 return _MAV_RETURN_uint16_t(msg, 4);
356}
357
363static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
364{
365 return _MAV_RETURN_uint16_t(msg, 6);
366}
367
373static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
374{
375 return _MAV_RETURN_uint16_t(msg, 8);
376}
377
383static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
384{
385 return _MAV_RETURN_uint16_t(msg, 10);
386}
387
393static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
394{
395 return _MAV_RETURN_uint16_t(msg, 12);
396}
397
403static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
404{
405 return _MAV_RETURN_uint16_t(msg, 14);
406}
407
413static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
414{
415 return _MAV_RETURN_uint16_t(msg, 16);
416}
417
423static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
424{
425 return _MAV_RETURN_uint16_t(msg, 18);
426}
427
433static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
434{
435 return _MAV_RETURN_uint8_t(msg, 21);
436}
437
444static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
445{
446#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
447 rc_channels_raw->time_boot_ms = mavlink_msg_rc_channels_raw_get_time_boot_ms(msg);
448 rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
449 rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
450 rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
451 rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
452 rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
453 rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
454 rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
455 rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
456 rc_channels_raw->port = mavlink_msg_rc_channels_raw_get_port(msg);
457 rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
458#else
459 uint8_t len = msg->len < MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN? msg->len : MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN;
460 memset(rc_channels_raw, 0, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
461 memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), len);
462#endif
463}
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