214 lines
8.0 KiB
C
214 lines
8.0 KiB
C
#pragma once
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// MESSAGE DEVICE_COMMAND PACKING
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#define MAVLINK_MSG_ID_DEVICE_COMMAND 12
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typedef struct __mavlink_device_command_t {
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uint8_t cmd_type; /*< Command*/
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} mavlink_device_command_t;
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#define MAVLINK_MSG_ID_DEVICE_COMMAND_LEN 1
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#define MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN 1
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#define MAVLINK_MSG_ID_12_LEN 1
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#define MAVLINK_MSG_ID_12_MIN_LEN 1
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#define MAVLINK_MSG_ID_DEVICE_COMMAND_CRC 204
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#define MAVLINK_MSG_ID_12_CRC 204
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DEVICE_COMMAND { \
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12, \
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"DEVICE_COMMAND", \
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1, \
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{ { "cmd_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_command_t, cmd_type) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DEVICE_COMMAND { \
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"DEVICE_COMMAND", \
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1, \
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{ { "cmd_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_command_t, cmd_type) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a device_command 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 cmd_type Command
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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_device_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t cmd_type)
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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_DEVICE_COMMAND_LEN];
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_mav_put_uint8_t(buf, 0, cmd_type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN);
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#else
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mavlink_device_command_t packet;
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packet.cmd_type = cmd_type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEVICE_COMMAND;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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}
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/**
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* @brief Pack a device_command 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 cmd_type Command
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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_device_command_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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uint8_t cmd_type)
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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_DEVICE_COMMAND_LEN];
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_mav_put_uint8_t(buf, 0, cmd_type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN);
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#else
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mavlink_device_command_t packet;
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packet.cmd_type = cmd_type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEVICE_COMMAND;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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}
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/**
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* @brief Encode a device_command 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 device_command C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_device_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_device_command_t* device_command)
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{
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return mavlink_msg_device_command_pack(system_id, component_id, msg, device_command->cmd_type);
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}
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/**
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* @brief Encode a device_command 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 device_command C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_device_command_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_device_command_t* device_command)
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{
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return mavlink_msg_device_command_pack_chan(system_id, component_id, chan, msg, device_command->cmd_type);
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}
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/**
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* @brief Send a device_command message
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* @param chan MAVLink channel to send the message
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*
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* @param cmd_type Command
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_device_command_send(mavlink_channel_t chan, uint8_t cmd_type)
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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_DEVICE_COMMAND_LEN];
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_mav_put_uint8_t(buf, 0, cmd_type);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, buf, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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#else
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mavlink_device_command_t packet;
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packet.cmd_type = cmd_type;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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#endif
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}
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/**
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* @brief Send a device_command 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_device_command_send_struct(mavlink_channel_t chan, const mavlink_device_command_t* device_command)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_device_command_send(chan, device_command->cmd_type);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)device_command, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DEVICE_COMMAND_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_device_command_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t cmd_type)
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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_uint8_t(buf, 0, cmd_type);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, buf, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC);
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#else
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mavlink_device_command_t *packet = (mavlink_device_command_t *)msgbuf;
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packet->cmd_type = cmd_type;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)packet, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_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 DEVICE_COMMAND UNPACKING
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/**
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* @brief Get field cmd_type from device_command message
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*
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* @return Command
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*/
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static inline uint8_t mavlink_msg_device_command_get_cmd_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Decode a device_command message into a struct
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*
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* @param msg The message to decode
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* @param device_command C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_device_command_decode(const mavlink_message_t* msg, mavlink_device_command_t* device_command)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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device_command->cmd_type = mavlink_msg_device_command_get_cmd_type(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DEVICE_COMMAND_LEN? msg->len : MAVLINK_MSG_ID_DEVICE_COMMAND_LEN;
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memset(device_command, 0, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN);
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memcpy(device_command, _MAV_PAYLOAD(msg), len);
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#endif
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}
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