static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
/**
* @brief Decode a mission_request message into a struct
*
* @param msg The message to decode
* @param mission_request C-struct to decode the message contents into
*/
void mavlink_msg_mission_request_decode(const mavlink_message_t* msg, mavlink_mission_request_t* mission_request)
{
#if MAVLINK_NEED_BYTE_SWAP
mission_request->seq = mavlink_msg_mission_request_get_seq(msg);
mission_request->target_system = mavlink_msg_mission_request_get_target_system(msg);
mission_request->target_component = mavlink_msg_mission_request_get_target_component(msg);
#else
memcpy(mission_request, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
#endif
}
/**
* @brief Decode a vfr_hud message into a struct
*
* @param msg The message to decode
* @param vfr_hud C-struct to decode the message contents into
*/
void _decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
{
#if MAVLINK_NEED_BYTE_SWAP
vfr_hud->airspeed = _get_airspeed(msg);
vfr_hud->groundspeed = _get_groundspeed(msg);
vfr_hud->alt = _get_alt(msg);
vfr_hud->climb = _get_climb(msg);
vfr_hud->heading = _get_heading(msg);
vfr_hud->throttle = _get_throttle(msg);
#else
memcpy(vfr_hud, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VFR_HUD_LEN);
#endif
}
/**
* @brief Decode a sys_status message into a struct
*
* @param msg The message to decode
* @param sys_status C-struct to decode the message contents into
*/
void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
{
#if MAVLINK_NEED_BYTE_SWAP
sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
sys_status->load = mavlink_msg_sys_status_get_load(msg);
sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
#else
memcpy(sys_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYS_STATUS_LEN);
#endif
}
bool decodeMavlink()
{
bool isOutputUpdated = false;
mavlink_message_t msg;
mavlink_status_t status;
//receive data over serial1
while(Serial1.available() > 0) {
uint8_t c = Serial1.read();
//try to get a new message
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
// Handle message
switch(msg.msgid) {
case (MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE):
{
mavlink_rc_channels_override_t *rc_channels_override = (mavlink_rc_channels_override_t *)_MAV_PAYLOAD(&msg);
mavlinkValue[0] = rc_channels_override->chan1_raw;
mavlinkValue[1] = rc_channels_override->chan2_raw;
mavlinkValue[2] = rc_channels_override->chan3_raw;
mavlinkValue[3] = rc_channels_override->chan4_raw;
mavlinkValue[4] = rc_channels_override->chan5_raw;
mavlinkValue[5] = rc_channels_override->chan6_raw;
mavlinkValue[6] = rc_channels_override->chan7_raw;
mavlinkValue[7] = rc_channels_override->chan8_raw;
lastMavlinkTime = millis();
isOutputUpdated = true;
break;
}
default:
{
Serial.println(msg.msgid);
break;
}
}
}
// And get the next one
}
return isOutputUpdated;
}
