void ml_logger_default_write_servo_output_raw(ml_logger_t* mll, mavlink_message_t* msg) { /** uint32_t time_usec; ///< 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. **/ if (msg->msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW) { mavlink_servo_output_raw_t sor; mavlink_msg_servo_output_raw_decode(msg, &sor); fprintf(mll->files.servo_output_raw.fs, "%12" PRIu64 " %10d %5d %5d %5d %5d %5d %5d %5d %5d %3d\n", utils_us_since_epoch(), sor.time_usec, sor.servo1_raw, sor.servo2_raw, sor.servo3_raw, sor.servo4_raw, sor.servo5_raw, sor.servo6_raw, sor.servo7_raw, sor.servo8_raw, sor.port ); fflush(mll->files.servo_output_raw.fs); } }
// ------------------------------------------------------------------------------ // Read Messages // ------------------------------------------------------------------------------ void Autopilot_Interface:: read_messages() { bool success; // receive success flag bool received_all = false; // receive only one message Time_Stamps this_timestamps; // Blocking wait for new data while ( not received_all and not time_to_exit ) { // ---------------------------------------------------------------------- // READ MESSAGE // ---------------------------------------------------------------------- mavlink_message_t message; //printf("payload of message %i \n", message); //printf("address of message %i \n", &message); success = serial_port->read_message(message); //printf("success %i \n", success); // ---------------------------------------------------------------------- // HANDLE MESSAGE // ---------------------------------------------------------------------- if( success ) { printf("sysid: %i \n",(unsigned int) message.sysid); printf("payload %i \n",(unsigned int) message.payload64); printf("len %i \n",(unsigned int) message.len); printf("compid %i \n",(unsigned int) message.compid); printf("checksum %i \n",(unsigned int) message.checksum); printf("--------------\n"); // Store message sysid and compid. // Note this doesn't handle multiple message sources. current_messages.sysid = message.sysid; current_messages.compid = message.compid; // Handle Message ID switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: { //printf("MAVLINK_MSG_ID_HEARTBEAT\n"); mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat)); current_messages.time_stamps.heartbeat = get_time_usec(); this_timestamps.heartbeat = current_messages.time_stamps.heartbeat; break; } case MAVLINK_MSG_ID_SYS_STATUS: { //printf("MAVLINK_MSG_ID_SYS_STATUS\n"); mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status)); current_messages.time_stamps.sys_status = get_time_usec(); this_timestamps.sys_status = current_messages.time_stamps.sys_status; break; } case MAVLINK_MSG_ID_BATTERY_STATUS: { //printf("MAVLINK_MSG_ID_BATTERY_STATUS\n"); mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status)); current_messages.time_stamps.battery_status = get_time_usec(); this_timestamps.battery_status = current_messages.time_stamps.battery_status; break; } case MAVLINK_MSG_ID_RADIO_STATUS: { //printf("MAVLINK_MSG_ID_RADIO_STATUS\n"); mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status)); current_messages.time_stamps.radio_status = get_time_usec(); this_timestamps.radio_status = current_messages.time_stamps.radio_status; break; } case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { //printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n"); mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned)); current_messages.time_stamps.local_position_ned = get_time_usec(); this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned; break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { //printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n"); mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int)); current_messages.time_stamps.global_position_int = get_time_usec(); this_timestamps.global_position_int = current_messages.time_stamps.global_position_int; printf("1"); break; } case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED: { //printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n"); mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned)); current_messages.time_stamps.position_target_local_ned = get_time_usec(); this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned; break; } case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT: { //printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n"); mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int)); current_messages.time_stamps.position_target_global_int = get_time_usec(); this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int; break; } case MAVLINK_MSG_ID_HIGHRES_IMU: { //printf("MAVLINK_MSG_ID_HIGHRES_IMU\n"); mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu)); current_messages.time_stamps.highres_imu = get_time_usec(); this_timestamps.highres_imu = current_messages.time_stamps.highres_imu; break; } case MAVLINK_MSG_ID_ATTITUDE: { //printf("MAVLINK_MSG_ID_ATTITUDE\n"); mavlink_msg_attitude_decode(&message, &(current_messages.attitude)); current_messages.time_stamps.attitude = get_time_usec(); this_timestamps.attitude = current_messages.time_stamps.attitude; break; } case MAVLINK_MSG_ID_RC_CHANNELS_RAW: { mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw)); current_messages.time_stamps.rc_channels_raw = get_time_usec(); this_timestamps.rc_channels_raw = current_messages.time_stamps.rc_channels_raw; break; } case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { mavlink_msg_servo_output_raw_decode(&message, &(current_messages.servo_output_raw)); current_messages.time_stamps.servo_output_raw = get_time_usec(); this_timestamps.servo_output_raw = current_messages.time_stamps.servo_output_raw; break; } default: { // printf("Warning, did not handle message id %i\n",message.msgid); break; } } // end: switch msgid } // end: if read message //printf("timestamp %i", (int)this_timestamps.servo_output_raw); // Check for receipt of all items received_all = //this_timestamps.heartbeat && //this_timestamps.sys_status && // this_timestamps.battery_status && // this_timestamps.radio_status && //this_timestamps.local_position_ned && //this_timestamps.global_position_int && // this_timestamps.position_target_local_ned && //this_timestamps.position_target_global_int && //this_timestamps.highres_imu && //this_timestamps.attitude && //this_timestamps.rc_channels_raw && this_timestamps.servo_output_raw; // give the write thread time to use the port //if ( writing_status > false ) //usleep(100); // look for components of batches at 10kHz } // end: while not received all return; }
// ------------------------------------------------------------------------------ // Read Messages // ------------------------------------------------------------------------------ void Autopilot_Interface:: read_messages() { bool success; // receive success flag bool received_all = false; // receive only one message Time_Stamps this_timestamps; // Blocking wait for new data while ( not received_all and not time_to_exit ) { // ---------------------------------------------------------------------- // READ MESSAGE // ---------------------------------------------------------------------- mavlink_message_t message; success = serial_port->read_message(message); // ---------------------------------------------------------------------- // HANDLE MESSAGE // ---------------------------------------------------------------------- if( success ) { // Store message sysid and compid. // Note this doesn't handle multiple message sources. current_messages.sysid = message.sysid; current_messages.compid = message.compid; // Handle Message ID switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: { std::cout << "MAVLINK_MSG_ID_HEARTBEAT" << std::endl; mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat)); current_messages.time_stamps.heartbeat = get_time_usec(); this_timestamps.heartbeat = current_messages.time_stamps.heartbeat; break; } case MAVLINK_MSG_ID_SYS_STATUS: { //std::cout << "MAVLINK_MSG_ID_SYS_STATUS" << std::endl; mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status)); current_messages.time_stamps.sys_status = get_time_usec(); this_timestamps.sys_status = current_messages.time_stamps.sys_status; break; } case MAVLINK_MSG_ID_BATTERY_STATUS: { std::cout << "MAVLINK_MSG_ID_BATTERY_STATUS" << std::endl; mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status)); current_messages.time_stamps.battery_status = get_time_usec(); this_timestamps.battery_status = current_messages.time_stamps.battery_status; break; } case MAVLINK_MSG_ID_RADIO_STATUS: { std::cout << "MAVLINK_MSG_ID_RADIO_STATUS" << std::endl; mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status)); current_messages.time_stamps.radio_status = get_time_usec(); this_timestamps.radio_status = current_messages.time_stamps.radio_status; break; } case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { std::cout << "MAVLINK_MSG_ID_LOCAL_POSITION_NED" << std::endl; mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned)); current_messages.time_stamps.local_position_ned = get_time_usec(); this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned; break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { std::cout << "MAVLINK_MSG_ID_GLOBAL_POSITION_INT" << std::endl; mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int)); current_messages.time_stamps.global_position_int = get_time_usec(); this_timestamps.global_position_int = current_messages.time_stamps.global_position_int; break; } case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED: { std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED" << std::endl; mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned)); current_messages.time_stamps.position_target_local_ned = get_time_usec(); this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned; break; } case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT: { std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT" << std::endl; mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int)); current_messages.time_stamps.position_target_global_int = get_time_usec(); this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int; break; } case MAVLINK_MSG_ID_HIGHRES_IMU: { std::cout << "MAVLINK_MSG_ID_HIGHRES_IMU" << std::endl; mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu)); current_messages.time_stamps.highres_imu = get_time_usec(); this_timestamps.highres_imu = current_messages.time_stamps.highres_imu; break; } case MAVLINK_MSG_ID_ATTITUDE: { vector4d quaternion; std::cout << "MAVLINK_MSG_ID_ATTITUDE" << std::endl; mavlink_msg_attitude_decode(&message, &(current_messages.attitude)); current_messages.time_stamps.attitude = get_time_usec(); this_timestamps.attitude = current_messages.time_stamps.attitude; quaternion_from_euler(&quaternion, current_messages.attitude.roll, current_messages.attitude.pitch, current_messages.attitude.yaw); std::cout << "\troll: " << current_messages.attitude.roll << "\tpitch: " << current_messages.attitude.pitch << "\tyaw: " << current_messages.attitude.yaw << std::endl; std::cout << "\trollspeed: " << current_messages.attitude.rollspeed << "\tpitchspeed: " << current_messages.attitude.pitchspeed << "\tyawspeed: " << current_messages.attitude.yawspeed << std::endl; std::cout << "\tqx: " << quaternion.x << "\tqy: " << quaternion.y << "\tqz: " << quaternion.z << "\tqw: " << quaternion.w << std::endl; break; } case MAVLINK_MSG_ID_DEBUG: { std::cout << "MAVLINK_MSG_ID_DEBUG" << std::endl; /* mavlink_msg_debug_decode(&message, &(current_messages.attitude)); current_messages.time_stamps.attitude = get_time_usec(); this_timestamps.attitude = current_messages.time_stamps.attitude;*/ break; } case MAVLINK_MSG_ID_STATUSTEXT: { std::cout << "MAVLINK_MSG_ID_STATUSTEXT: "; mavlink_msg_statustext_decode(&message, &(current_messages.statustext)); current_messages.statustext.text[50] = 0; printf("%d - '%s'\n", current_messages.statustext.severity, current_messages.statustext.text); current_messages.time_stamps.statustext = get_time_usec(); this_timestamps.statustext = current_messages.time_stamps.statustext; break; } case MAVLINK_MSG_ID_RAW_IMU: { std::cout << "MAVLINK_MSG_ID_RAW_IMU:" << std::endl; mavlink_msg_raw_imu_decode(&message, &(current_messages.raw_imu)); std::cout << "\tacc :\t" << current_messages.raw_imu.xacc << "\t" << current_messages.raw_imu.yacc << "\t" << current_messages.raw_imu.zacc << std::endl; std::cout << "\tgyro:\t" << current_messages.raw_imu.xgyro << "\t" << current_messages.raw_imu.ygyro << "\t" << current_messages.raw_imu.zgyro << std::endl; std::cout << "\tmag:\t" << current_messages.raw_imu.xmag << "\t" << current_messages.raw_imu.ymag << "\t" << current_messages.raw_imu.zmag << std::endl; current_messages.time_stamps.raw_imu = get_time_usec(); this_timestamps.raw_imu = current_messages.time_stamps.raw_imu; break; } case MAVLINK_MSG_ID_GPS_RAW_INT: { std::cout << "MAVLINK_MSG_ID_GPS_RAW_INT:" << std::endl; mavlink_msg_gps_raw_int_decode(&message, &(current_messages.gps_raw_int)); current_messages.time_stamps.gps_raw_int = get_time_usec(); this_timestamps.gps_raw_int = current_messages.time_stamps.gps_raw_int; std::cout << "\tlat: " << current_messages.gps_raw_int.lat << "\tlon: " << current_messages.gps_raw_int.lon << "\talt: " << current_messages.gps_raw_int.alt << std::endl; std::cout << "\teph: " << current_messages.gps_raw_int.eph << "\tepv: " << current_messages.gps_raw_int.epv << std::endl; std::cout << "\tvel: " << current_messages.gps_raw_int.vel << "\tcog: " << current_messages.gps_raw_int.cog << std::endl; std::cout << "\tfix: " << (int)current_messages.gps_raw_int.fix_type << "\tsat: " << (int)current_messages.gps_raw_int.satellites_visible << std::endl; break; } case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: { vector4d quaternion; std::cout << "MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:" << std::endl; mavlink_msg_nav_controller_output_decode(&message, &(current_messages.nav_controller_output)); current_messages.time_stamps.nav_controller_output = get_time_usec(); this_timestamps.nav_controller_output = current_messages.time_stamps.nav_controller_output; quaternion_from_euler(&quaternion, current_messages.nav_controller_output.nav_roll, current_messages.nav_controller_output.nav_pitch, current_messages.nav_controller_output.nav_bearing); std::cout << "\tnav_roll: " << current_messages.nav_controller_output.nav_roll << "\tnav_pitch: " << current_messages.nav_controller_output.nav_pitch << "\tnav_bearing: " << current_messages.nav_controller_output.nav_bearing << std::endl; std::cout << "\tqx: " << quaternion.x << "\tqy: " << quaternion.y << "\tqz: " << quaternion.z << "\tqw: " << quaternion.w << std::endl; std::cout << "\ttarget_bearing: " << current_messages.nav_controller_output.target_bearing << "\twp_dist: " << current_messages.nav_controller_output.wp_dist << std::endl; std::cout << "\talt_error: " << current_messages.nav_controller_output.alt_error << "\taspd_error: " << current_messages.nav_controller_output.aspd_error << "\txtrack_error: " << current_messages.nav_controller_output.xtrack_error << std::endl; break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { std::cout << "MAVLINK_MSG_ID_SCALED_PRESSURE:" << std::endl; mavlink_msg_scaled_pressure_decode(&message, &(current_messages.scaled_pressure)); current_messages.time_stamps.scaled_pressure = get_time_usec(); this_timestamps.scaled_pressure = current_messages.time_stamps.scaled_pressure; std::cout << "\tpress_abs: " << current_messages.scaled_pressure.press_abs << "\tpress_diff: " << current_messages.scaled_pressure.press_diff << "\ttemperature: " << ((double)current_messages.scaled_pressure.temperature / 100.0) << std::endl; break; } case MAVLINK_MSG_ID_RC_CHANNELS_RAW: { std::cout << "MAVLINK_MSG_ID_RC_CHANNELS_RAW:" << std::endl; mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw)); current_messages.time_stamps.rc_channels_raw = get_time_usec(); this_timestamps.rc_channels_raw = current_messages.time_stamps.rc_channels_raw; std::cout << "\tport: " << (int)current_messages.rc_channels_raw.port << "\tchan1_raw: " << current_messages.rc_channels_raw.chan1_raw << "\tchan2_raw: " << current_messages.rc_channels_raw.chan2_raw << "\tchan3_raw: " << current_messages.rc_channels_raw.chan3_raw << "\tchan4_raw: " << current_messages.rc_channels_raw.chan4_raw << "\tchan5_raw: " << current_messages.rc_channels_raw.chan5_raw << "\tchan6_raw: " << current_messages.rc_channels_raw.chan6_raw << "\tchan7_raw: " << current_messages.rc_channels_raw.chan7_raw << "\tchan8_raw: " << current_messages.rc_channels_raw.chan8_raw << "\trssi: " << (int)current_messages.rc_channels_raw.rssi << std::endl; break; } case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { std::cout << "MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:" << std::endl; mavlink_msg_servo_output_raw_decode(&message, &(current_messages.servo_output_raw)); current_messages.time_stamps.servo_output_raw = get_time_usec(); this_timestamps.servo_output_raw = current_messages.time_stamps.servo_output_raw; std::cout << "\tport: " << (int)current_messages.servo_output_raw.port << "\tservo1_raw: " << current_messages.servo_output_raw.servo1_raw << "\tservo2_raw: " << current_messages.servo_output_raw.servo2_raw << "\tservo3_raw: " << current_messages.servo_output_raw.servo3_raw << "\tservo4_raw: " << current_messages.servo_output_raw.servo4_raw << "\tservo5_raw: " << current_messages.servo_output_raw.servo5_raw << "\tservo6_raw: " << current_messages.servo_output_raw.servo6_raw << "\tservo7_raw: " << current_messages.servo_output_raw.servo7_raw << "\tservo8_raw: " << current_messages.servo_output_raw.servo8_raw << std::endl; break; } case MAVLINK_MSG_ID_VFR_HUD: { std::cout << "MAVLINK_MSG_ID_VFR_HUD:" << std::endl; mavlink_msg_vfr_hud_decode(&message, &(current_messages.vfr_hud)); current_messages.time_stamps.vfr_hud = get_time_usec(); this_timestamps.vfr_hud = current_messages.time_stamps.vfr_hud; std::cout << "\tairspeed: " << current_messages.vfr_hud.airspeed << "\tgroundspeed: " << current_messages.vfr_hud.groundspeed << "\theading: " << current_messages.vfr_hud.heading << std::endl; std::cout << "\tthrottle: " << current_messages.vfr_hud.throttle << "\talt: " << current_messages.vfr_hud.alt << "\tclimb: " << current_messages.vfr_hud.climb << std::endl; break; } case MAVLINK_MSG_ID_MISSION_CURRENT: { std::cout << "MAVLINK_MSG_ID_MISSION_CURRENT: "; mavlink_msg_mission_current_decode(&message, &(current_messages.mission_current)); current_messages.time_stamps.mission_current = get_time_usec(); this_timestamps.mission_current = current_messages.time_stamps.mission_current; std::cout << "seq: " << current_messages.mission_current.seq << std::endl; break; } default: { printf("Warning, did not handle message id %i\n",message.msgid); break; } } // end: switch msgid } // end: if read message // Check for receipt of all items received_all = this_timestamps.heartbeat && this_timestamps.sys_status && // this_timestamps.battery_status && // this_timestamps.radio_status && this_timestamps.local_position_ned && // this_timestamps.global_position_int && // this_timestamps.position_target_local_ned && this_timestamps.position_target_global_int && this_timestamps.highres_imu && this_timestamps.attitude ; // give the write thread time to use the port if ( writing_status > false ) usleep(100); // look for components of batches at 10kHz } // end: while not received all return; }
void MAVLink_Message_Handler::handle_message(uint64_t timestamp, mavlink_message_t &msg) { // ::fprintf(stderr, "msg.msgid=%u\n", msg.msgid); switch(msg.msgid) { case MAVLINK_MSG_ID_AHRS2: { mavlink_ahrs2_t decoded; mavlink_msg_ahrs2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_ATTITUDE: { mavlink_attitude_t decoded; mavlink_msg_attitude_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_EKF_STATUS_REPORT: { mavlink_ekf_status_report_t decoded; mavlink_msg_ekf_status_report_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { mavlink_global_position_int_t decoded; mavlink_msg_global_position_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GPS_RAW_INT: { mavlink_gps_raw_int_t decoded; mavlink_msg_gps_raw_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_HEARTBEAT: { mavlink_heartbeat_t decoded; mavlink_msg_heartbeat_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_MOUNT_STATUS: { mavlink_mount_status_t decoded; mavlink_msg_mount_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: { mavlink_nav_controller_output_t decoded; mavlink_msg_nav_controller_output_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_PARAM_VALUE: { mavlink_param_value_t decoded; mavlink_msg_param_value_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK: { mavlink_remote_log_data_block_t decoded; mavlink_msg_remote_log_data_block_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { mavlink_scaled_pressure_t decoded; mavlink_msg_scaled_pressure_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE2: { mavlink_scaled_pressure2_t decoded; mavlink_msg_scaled_pressure2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { mavlink_servo_output_raw_t decoded; mavlink_msg_servo_output_raw_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_STATUSTEXT: { mavlink_statustext_t decoded; mavlink_msg_statustext_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYS_STATUS: { mavlink_sys_status_t decoded; mavlink_msg_sys_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYSTEM_TIME: { mavlink_system_time_t decoded; mavlink_msg_system_time_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_VFR_HUD: { mavlink_vfr_hud_t decoded; mavlink_msg_vfr_hud_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } } }