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- //function called by arduino to read any MAVlink messages sent by serial communication from flight controller to arduino
- uint8_t received_sysid;
- uint8_t received_compid;
- uint8_t received_msgid;
- void px_to_mp() {
- if(Serial2.available()) {
- mavlink_message_t msg;
- mavlink_status_t status;
- uint8_t c = Serial2.read();
- if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
- switch(msg.msgid) {
- case 0: {
- mavlink_heartbeat_t packet;
- mavlink_msg_heartbeat_decode(&msg, &packet);
- received_sysid = msg.sysid; // sysid compid msgid terpaksa dibuat -
- received_compid = msg.compid; // variabel tersendiri untuk menghindari -
- received_msgid = msg.msgid; // kerusakan data. belum diketahui penyebab -
- // 3 byte ini riskan rusak.
- struct combine {
- header head_data;
- hb payload_data;
- }__attribute__((packed)); struct combine merge; // paket header dan payload digabung 1 frame
- // paket checksum digabungkan dengan payload
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.custom_mode, packet.type, packet.autopilot, packet.base_mode,
- packet.system_status, packet.mavlink_version, msg.checksum};
- //payloadSize digunakan untuk pembentukan keystream dan tag
- //sizeMerge adalah total data dari head-cksum yang dikirim ke MP
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 1: {
- mavlink_sys_status_t packet;
- mavlink_msg_sys_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- sys payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.onboard_control_sensors_present, packet.onboard_control_sensors_enabled,
- packet.onboard_control_sensors_health, packet.load, packet.voltage_battery, packet.current_battery,
- packet.drop_rate_comm, packet.errors_comm, packet.errors_count1, packet.errors_count2,
- packet.errors_count3, packet.errors_count4, packet.battery_remaining, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 2: {
- mavlink_system_time_t packet;
- mavlink_msg_system_time_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- system_time payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_unix_usec, packet.time_boot_ms, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 4: {
- mavlink_ping_t packet;
- mavlink_msg_ping_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- ping payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.seq, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 5: {
- mavlink_change_operator_control_t packet;
- mavlink_msg_change_operator_control_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- op_control payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.control_request,
- packet.version, {packet.passkey}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 6: {
- mavlink_change_operator_control_ack_t packet;
- mavlink_msg_change_operator_control_ack_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- control_ack payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.gcs_system_id, packet.control_request, packet.ack, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 7: {
- mavlink_auth_key_t packet;
- mavlink_msg_auth_key_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mavkey payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {{packet.key}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 8: {
- mavlink_link_node_status_t packet;
- mavlink_msg_link_node_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- node payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.timestamp, packet.tx_rate, packet.rx_rate, packet.messages_sent,
- packet.messages_received, packet.messages_lost, packet.rx_parse_err, packet.tx_overflows,
- packet.rx_overflows, packet.tx_buf, packet.rx_buf, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 11: {
- mavlink_set_mode_t packet;
- mavlink_msg_set_mode_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- setmode payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.custom_mode, packet.target_system, packet.base_mode,
- msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 20: {
- mavlink_param_request_read_t packet;
- mavlink_msg_param_request_read_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- paramreq payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param_index, packet.target_system, packet.target_component,
- {packet.param_id}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 21: {
- mavlink_param_request_list_t packet;
- mavlink_msg_param_request_list_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- paramreqlist payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 22: {
- mavlink_param_value_t packet;
- mavlink_msg_param_value_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- paramvalue payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param_value, packet.param_count, packet.param_index,
- {packet.param_id}, packet.param_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 23: {
- mavlink_param_set_t packet;
- mavlink_msg_param_set_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- paramset payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param_value, packet.target_system, packet.target_component,
- {packet.param_id}, packet.param_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 24: {
- mavlink_gps_raw_int_t packet;
- mavlink_msg_gps_raw_int_decode(&msg, &packet);
- struct combine {
- header head_data;
- gpsraw payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, msg.sysid, msg.compid, msg.msgid};
- merge.payload_data = {packet.time_usec, packet.lat, packet.lon, packet.alt, packet.eph,
- packet.epv, packet.vel, packet.cog, packet.fix_type,
- packet.satellites_visible, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 25: {
- mavlink_gps_status_t packet;
- mavlink_msg_gps_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gpsstat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.satellites_visible, {packet.satellite_prn}, {packet.satellite_used},
- {packet.satellite_elevation}, {packet.satellite_azimuth}, {packet.satellite_snr}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 26: {
- mavlink_scaled_imu_t packet;
- mavlink_msg_scaled_imu_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scaleimu payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag,
- packet.zmag, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 27: {
- mavlink_raw_imu_t packet;
- mavlink_msg_raw_imu_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rawimu payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag, packet.zmag, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 28: {
- mavlink_raw_pressure_t packet;
- mavlink_msg_raw_pressure_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rawpress payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.press_abs, packet.press_diff1,
- packet.press_diff2, packet.temperature, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 29: {
- mavlink_scaled_pressure_t packet;
- mavlink_msg_scaled_pressure_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scalepress payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.press_abs, packet.press_diff,
- packet.temperature, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 30: {
- mavlink_attitude_t packet;
- mavlink_msg_attitude_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- attitude payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.roll, packet.pitch, packet.yaw,
- packet.rollspeed, packet.pitchspeed, packet.yawspeed, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 31: {
- mavlink_attitude_quaternion_t packet;
- mavlink_msg_attitude_quaternion_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- attitude_quaternion payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.q1, packet.q2, packet.q3,
- packet.q4, packet.rollspeed, packet.pitchspeed, packet.yawspeed, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 32: {
- mavlink_local_position_ned_t packet;
- mavlink_msg_local_position_ned_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- locposned payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.x, packet.y, packet.z, packet.vx,
- packet.vy, packet.vz, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 33: {
- mavlink_global_position_int_t packet;
- mavlink_msg_global_position_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gpsint payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.lat, packet.lon, packet.alt,
- packet.relative_alt, packet.vx, packet.vy, packet.vz, packet.hdg, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 34: {
- mavlink_rc_channels_scaled_t packet;
- mavlink_msg_rc_channels_scaled_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rcchscale payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.chan1_scaled, packet.chan2_scaled,
- packet.chan3_scaled, packet.chan4_scaled, packet.chan5_scaled, packet.chan6_scaled,
- packet.chan7_scaled, packet.chan8_scaled, packet.port, packet.rssi, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 35: {
- mavlink_rc_channels_raw_t packet;
- mavlink_msg_rc_channels_raw_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rcchraw payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.chan1_raw, packet.chan2_raw,
- packet.chan3_raw, packet.chan4_raw, packet.chan5_raw, packet.chan6_raw,
- packet.chan7_raw, packet.chan8_raw, packet.port, packet.rssi, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 36: {
- mavlink_servo_output_raw_t packet;
- mavlink_msg_servo_output_raw_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- servooutraw payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.servo1_raw, packet.servo2_raw,
- packet.servo3_raw, packet.servo4_raw, packet.servo5_raw, packet.servo6_raw,
- packet.servo7_raw, packet.servo8_raw, packet.port, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 37: {
- mavlink_mission_request_partial_list_t packet;
- mavlink_msg_mission_request_partial_list_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mission_request_partial_list payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.start_index, packet.end_index, packet.target_system,
- packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 38: {
- mavlink_mission_write_partial_list_t packet;
- mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mission_write_partial_list payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.start_index, packet.end_index, packet.target_system,
- packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 39: {
- mavlink_mission_item_t packet;
- mavlink_msg_mission_item_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mission_item payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param1, packet.param2, packet.param3, packet.param4,
- packet.x, packet.y, packet.z, packet.seq, packet.command, packet.target_system,
- packet.target_component, packet.frame, packet.current, packet.autocontinue, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 40: {
- mavlink_mission_request_t packet;
- mavlink_msg_mission_request_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionreq payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seq, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 41: {
- mavlink_mission_set_current_t packet;
- mavlink_msg_mission_set_current_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mission_set_current payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seq, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 42: {
- mavlink_mission_current_t packet;
- mavlink_msg_mission_current_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missioncurr payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seq, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 43: {
- mavlink_mission_request_list_t packet;
- mavlink_msg_mission_request_list_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionreqlist payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 44: {
- mavlink_mission_count_t packet;
- mavlink_msg_mission_count_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missioncount payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.count, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 45: {
- mavlink_mission_clear_all_t packet;
- mavlink_msg_mission_clear_all_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionclear payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 46: {
- mavlink_mission_item_reached_t packet;
- mavlink_msg_mission_item_reached_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mission_item_reached payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seq, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 47: {
- mavlink_mission_ack_t packet;
- mavlink_msg_mission_ack_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionack payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component,
- packet.type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 48: {
- mavlink_set_gps_global_origin_t packet;
- mavlink_msg_set_gps_global_origin_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- set_gps_global_origin payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.latitude, packet.longitude, packet.altitude,
- packet.target_system, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 49: {
- mavlink_gps_global_origin_t packet;
- mavlink_msg_gps_global_origin_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gps_global_ori payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.latitude, packet.longitude, packet.altitude, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 50: {
- mavlink_param_map_rc_t packet;
- mavlink_msg_param_map_rc_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- param_map_rc payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param_value0, packet.scale, packet.param_value_min,
- packet.param_value_max, packet.param_index, packet.target_system, packet.target_component,
- {packet.param_id}, packet.parameter_rc_channel_index, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 51: {
- mavlink_mission_request_int_t packet;
- mavlink_msg_mission_request_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionreqint payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seq, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 54: {
- mavlink_safety_set_allowed_area_t packet;
- mavlink_msg_safety_set_allowed_area_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- safety_set_allowed_area payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.p1x, packet.p1y, packet.p1z, packet.p2x, packet.p2y,
- packet.p2z, packet.target_system, packet.target_component, packet.frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 55: {
- mavlink_safety_allowed_area_t packet;
- mavlink_msg_safety_allowed_area_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- safety_allowed_area payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.p1x, packet.p1y, packet.p1z, packet.p2x,
- packet.p2y, packet.p2z, packet.frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 61: {
- mavlink_attitude_quaternion_cov_t packet;
- mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- attitude_quaternion_cov payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, {packet.q}, packet.rollspeed, packet.pitchspeed,
- packet.yawspeed, {packet.covariance}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 62: {
- mavlink_nav_controller_output_t packet;
- mavlink_msg_nav_controller_output_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- navcontrol_output payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.nav_roll, packet.nav_pitch, packet.alt_error,
- packet.aspd_error, packet.xtrack_error, packet.nav_bearing, packet.target_bearing,
- packet.wp_dist, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 63: {
- mavlink_global_position_int_cov_t packet;
- mavlink_msg_global_position_int_cov_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gpsint_cov payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.lat, packet.lon, packet.alt,
- packet.relative_alt, packet.vx, packet.vy, packet.vz, {packet.covariance},
- packet.estimator_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 64: {
- mavlink_local_position_ned_cov_t packet;
- mavlink_msg_local_position_ned_cov_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- locposned_cov payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.x, packet.y, packet.z,
- packet.vx, packet.vy, packet.vz, packet.ax, packet.ay, packet.az,
- {packet.covariance}, packet.estimator_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 65: {
- mavlink_rc_channels_t packet;
- mavlink_msg_rc_channels_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rcchs payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.chan1_raw, packet.chan2_raw, packet.chan3_raw,
- packet.chan4_raw, packet.chan5_raw, packet.chan6_raw, packet.chan7_raw,
- packet.chan8_raw, packet.chan9_raw, packet.chan10_raw, packet.chan11_raw,
- packet.chan12_raw, packet.chan13_raw, packet.chan14_raw, packet.chan15_raw,
- packet.chan16_raw, packet.chan17_raw, packet.chan18_raw, packet.chancount,
- packet.rssi, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 66: {
- mavlink_request_data_stream_t packet;
- mavlink_msg_request_data_stream_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- reqdata_stream payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.req_message_rate, packet.target_system,
- packet.target_component, packet.req_stream_id, packet.start_stop, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 67: {
- mavlink_data_stream_t packet;
- mavlink_msg_data_stream_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- data_stream payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.message_rate, packet.stream_id, packet.on_off, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 69: {
- mavlink_manual_control_t packet;
- mavlink_msg_manual_control_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- manctrl payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.x, packet.y, packet.z, packet.buttons,
- packet.target, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 70: {
- mavlink_rc_channels_override_t packet;
- mavlink_msg_rc_channels_override_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rcchs_override payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.chan1_raw, packet.chan2_raw, packet.chan3_raw,
- packet.chan4_raw, packet.chan5_raw, packet.chan6_raw, packet.chan7_raw,
- packet.chan8_raw, packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 73: {
- mavlink_mission_item_int_t packet;
- mavlink_msg_mission_item_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- missionitem_int payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param1, packet.param2, packet.param3,
- packet.param4, packet.x, packet.y, packet.z, packet.seq, packet.command,
- packet.target_system, packet.target_component, packet.frame,
- packet.current, packet.autocontinue, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 74: {
- mavlink_vfr_hud_t packet;
- mavlink_msg_vfr_hud_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- vfrhud payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.airspeed, packet.groundspeed, packet.alt,
- packet.climb, packet.heading, packet.throttle, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 75: {
- mavlink_command_int_t packet;
- mavlink_msg_command_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- cmdint payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param1, packet.param2, packet.param3,
- packet.param4, packet.x, packet.y, packet.z, packet.command,
- packet.target_system, packet.target_component, packet.frame, packet.current,
- packet.autocontinue, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 76: {
- mavlink_command_long_t packet;
- mavlink_msg_command_long_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- cmdlong payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.param1, packet.param2, packet.param3,
- packet.param4, packet.param5, packet.param6, packet.param7, packet.command,
- packet.target_system, packet.target_component, packet.confirmation, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 77: {
- mavlink_command_ack_t packet;
- mavlink_msg_command_ack_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- cmdack payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.command, packet.result, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 80: {
- mavlink_command_cancel_t packet;
- mavlink_msg_command_cancel_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- cmdcancel payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.command, packet.target_system,
- packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 81: {
- mavlink_manual_setpoint_t packet;
- mavlink_msg_manual_setpoint_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- manual_setpoint payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.roll, packet.pitch,
- packet.yaw, packet.thrust, packet.mode_switch, packet.manual_override_switch,
- msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 82: {
- mavlink_set_attitude_target_t packet;
- mavlink_msg_set_attitude_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- set_attitude_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, {packet.q}, packet.body_roll_rate,
- packet.body_pitch_rate, packet.body_yaw_rate, packet.thrust,
- packet.target_system, packet.target_component, packet.type_mask, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 83: {
- mavlink_attitude_target_t packet;
- mavlink_msg_attitude_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- attitude_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, {packet.q}, packet.body_roll_rate,
- packet.body_pitch_rate, packet.body_yaw_rate, packet.thrust,
- packet.type_mask, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 84: {
- mavlink_set_position_target_local_ned_t packet;
- mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- set_position_target_local_ned payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.x, packet.y, packet.z,
- packet.vx, packet.vy, packet.vz, packet.afx, packet.afy, packet.afz,
- packet.yaw, packet.yaw_rate, packet.type_mask, packet.target_system,
- packet.target_component, packet.coordinate_frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 85: {
- mavlink_position_target_local_ned_t packet;
- mavlink_msg_position_target_local_ned_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- position_target_local_ned payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.x, packet.y, packet.z,
- packet.vx, packet.vy, packet.vz, packet.afx, packet.afy, packet.afz, packet.yaw,
- packet.yaw_rate, packet.type_mask, packet.coordinate_frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 86: {
- mavlink_set_position_target_global_int_t packet;
- mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- set_position_target_global_int payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.lat_int, packet.lon_int,
- packet.alt, packet.vx, packet.vy, packet.vz, packet.afx, packet.afy,
- packet.afz, packet.yaw, packet.yaw_rate, packet.type_mask,
- packet.target_system, packet.target_component, packet.coordinate_frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 87: {
- mavlink_position_target_global_int_t packet;
- mavlink_msg_position_target_global_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- position_target_global_int payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.lat_int, packet.lon_int,
- packet.alt, packet.vx, packet.vy, packet.vz, packet.afx, packet.afy,
- packet.afz, packet.yaw, packet.yaw_rate, packet.type_mask,
- packet.coordinate_frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 89: {
- mavlink_local_position_ned_system_global_offset_t packet;
- mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- local_position_ned_system_global_offset payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.x, packet.y, packet.z,
- packet.roll, packet.pitch, packet.yaw, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 90: {
- mavlink_hil_state_t packet;
- mavlink_msg_hil_state_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilstate payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.roll, packet.pitch, packet.yaw,
- packet.rollspeed, packet.pitchspeed, packet.yawspeed, packet.lat, packet.lon,
- packet.alt, packet.vx, packet.vy, packet.vz, packet.xacc, packet.yacc,
- packet.zacc, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 91: {
- mavlink_hil_controls_t packet;
- mavlink_msg_hil_controls_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilctrl payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.roll_ailerons,
- packet.pitch_elevator, packet.yaw_rudder, packet.throttle, packet.aux1,
- packet.aux2, packet.aux3, packet.aux4, packet.mode, packet.nav_mode, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 92: {
- mavlink_hil_rc_inputs_raw_t packet;
- mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet);(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilrcinraw payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.chan1_raw, packet.chan2_raw,
- packet.chan3_raw, packet.chan4_raw, packet.chan5_raw, packet.chan6_raw,
- packet.chan7_raw, packet.chan8_raw, packet.chan9_raw, packet.chan10_raw,
- packet.chan11_raw, packet.chan12_raw, packet.rssi, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 93: {
- mavlink_hil_actuator_controls_t packet;
- mavlink_msg_hil_actuator_controls_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilact_ctrl payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.flags, {packet.controls},
- packet.mode, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 100: {
- mavlink_optical_flow_t packet;
- mavlink_msg_optical_flow_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- opticflow payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.flow_comp_m_x,
- packet.flow_comp_m_y, packet.ground_distance, packet.flow_x, packet.flow_y,
- packet.sensor_id, packet.quality, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 101: {
- mavlink_global_vision_position_estimate_t packet;
- mavlink_msg_global_vision_position_estimate_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- global_vision_position_estimate payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.usec, packet.x, packet.y, packet.z, packet.roll,
- packet.pitch, packet.yaw, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 102: {
- mavlink_vision_position_estimate_t packet;
- mavlink_msg_vision_position_estimate_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- vision_position_estimate payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.usec, packet.x, packet.y, packet.z, packet.roll,
- packet.pitch, packet.yaw, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 103: {
- mavlink_vision_speed_estimate_t packet;
- mavlink_msg_vision_speed_estimate_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- visspd_estim payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.usec, packet.x, packet.y, packet.z, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 104: {
- mavlink_vicon_position_estimate_t packet;
- mavlink_msg_vicon_position_estimate_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- viconpos_estim payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.usec, packet.x, packet.y, packet.z, packet.roll,
- packet.pitch, packet.yaw, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 105: {
- mavlink_highres_imu_t packet;
- mavlink_msg_highres_imu_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- highres_imu payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag, packet.zmag,
- packet.abs_pressure, packet.diff_pressure, packet.pressure_alt, packet.temperature,
- packet.fields_updated, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 106: {
- mavlink_optical_flow_rad_t packet;
- mavlink_msg_optical_flow_rad_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- opticflowrad payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.integration_time_us,
- packet.integrated_x, packet.integrated_y, packet.integrated_xgyro,
- packet.integrated_ygyro, packet.integrated_zgyro,
- packet.time_delta_distance_us, packet.distance, packet.temperature,
- packet.sensor_id, packet.quality, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 107: {
- mavlink_hil_sensor_t packet;
- mavlink_msg_hil_sensor_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilsens payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag, packet.zmag,
- packet.abs_pressure, packet.diff_pressure, packet.pressure_alt, packet.temperature,
- packet.fields_updated, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 108: {
- mavlink_sim_state_t packet;
- mavlink_msg_sim_state_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- sim_state payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.q1, packet.q2, packet.q3, packet.q4, packet.roll,
- packet.pitch, packet.yaw, packet.xacc, packet.yacc, packet.zacc, packet.xgyro,
- packet.ygyro, packet.zgyro, packet.lat, packet.lon, packet.alt, packet.std_dev_horz,
- packet.std_dev_vert, packet.vn, packet.ve, packet.vd, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 109: {
- mavlink_radio_status_t packet;
- mavlink_msg_radio_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- radio_status payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.rxerrors, packet.fixed, packet.rssi, packet.remrssi,
- packet.txbuf, packet.noise, packet.remnoise, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 110: {
- mavlink_file_transfer_protocol_t packet;
- mavlink_msg_file_transfer_protocol_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- FTP payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_network, packet.target_system,
- packet.target_component, {packet.payload}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 111: {
- mavlink_timesync_t packet;
- mavlink_msg_timesync_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- timesync payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.tc1, packet.ts1, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 112: {
- mavlink_camera_trigger_t packet;
- mavlink_msg_camera_trigger_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- camtrigg payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.seq, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 113: {
- mavlink_hil_gps_t packet;
- mavlink_msg_hil_gps_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilgps payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.lat, packet.lon, packet.alt,
- packet.eph, packet.epv, packet.vel, packet.vn, packet.ve, packet.vd,
- packet.cog, packet.fix_type, packet.satellites_visible, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 114: {
- mavlink_hil_optical_flow_t packet;
- mavlink_msg_hil_optical_flow_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hilopticflow payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.integration_time_us,
- packet.integrated_x, packet.integrated_y, packet.integrated_xgyro,
- packet.integrated_ygyro, packet.integrated_zgyro, packet.time_delta_distance_us,
- packet.distance, packet.temperature, packet.sensor_id, packet.quality, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 115: {
- mavlink_hil_state_quaternion_t packet;
- mavlink_msg_hil_state_quaternion_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- hil_state_quaternion payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, {packet.attitude_quaternion},
- packet.rollspeed, packet.pitchspeed, packet.yawspeed, packet.lat,
- packet.lon, packet.alt, packet.vx, packet.vy, packet.vz, packet.ind_airspeed,
- packet.true_airspeed, packet.xacc, packet.yacc, packet.zacc, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 116: {
- mavlink_scaled_imu2_t packet;
- mavlink_msg_scaled_imu2_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scaleimu2 payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag, packet.zmag,
- msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 117: {
- mavlink_log_request_list_t packet;
- mavlink_msg_log_request_list_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logreqlist payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.start, packet.end, packet.target_system,
- packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 118: {
- mavlink_log_entry_t packet;
- mavlink_msg_log_entry_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logentry payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_utc, packet.size, packet.id, packet.num_logs,
- packet.last_log_num, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 119: {
- mavlink_log_request_data_t packet;
- mavlink_msg_log_request_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logreqdata payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.ofs, packet.count, packet.id,
- packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 120: {
- mavlink_log_data_t packet;
- mavlink_msg_log_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logdata payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.ofs, packet.id, packet.count, {packet.data}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 121: {
- mavlink_log_erase_t packet;
- mavlink_msg_log_erase_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logerase payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 122: {
- mavlink_log_request_end_t packet;
- mavlink_msg_log_request_end_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- logreqend payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 123: {
- mavlink_gps_inject_data_t packet;
- mavlink_msg_gps_inject_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gps_inject_data payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.target_system, packet.target_component,
- packet.len, {packet.data}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 124: {
- mavlink_gps2_raw_t packet;
- mavlink_msg_gps2_raw_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gps2raw payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.lat, packet.lon, packet.alt,
- packet.dgps_age, packet.eph, packet.epv, packet.vel, packet.cog,
- packet.fix_type, packet.satellites_visible, packet.dgps_numch, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 125: {
- mavlink_power_status_t packet;
- mavlink_msg_power_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- powerstat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.Vcc, packet.Vservo, packet.flags, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 126: {
- mavlink_serial_control_t packet;
- mavlink_msg_serial_control_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- serctrl payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.baudrate, packet.timeout, packet.device, packet.flags,
- packet.count, {packet.data}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 127: {
- mavlink_gps_rtk_t packet;
- mavlink_msg_gps_rtk_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gpsrtk payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_last_baseline_ms, packet.tow,
- packet.baseline_a_mm, packet.baseline_b_mm, packet.baseline_c_mm,
- packet.accuracy, packet.iar_num_hypotheses, packet.wn,
- packet.rtk_receiver_id, packet.rtk_health, packet.rtk_rate, packet.nsats,
- packet.baseline_coords_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 128: {
- mavlink_gps2_rtk_t packet;
- mavlink_msg_gps2_rtk_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gps2rtk payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_last_baseline_ms, packet.tow,
- packet.baseline_a_mm, packet.baseline_b_mm, packet.baseline_c_mm,
- packet.accuracy, packet.iar_num_hypotheses, packet.wn,
- packet.rtk_receiver_id, packet.rtk_health, packet.rtk_rate,
- packet.nsats, packet.baseline_coords_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 129: {
- mavlink_scaled_imu3_t packet;
- mavlink_msg_scaled_imu3_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scaleimu3 payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.xacc, packet.yacc, packet.zacc,
- packet.xgyro, packet.ygyro, packet.zgyro, packet.xmag, packet.ymag,
- packet.zmag, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 130: {
- mavlink_data_transmission_handshake_t packet;
- mavlink_msg_data_transmission_handshake_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- data_transmission_handshake payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.size, packet.width, packet.height, packet.packets,
- packet.type, packet.payload, packet.jpg_quality, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 131: {
- mavlink_encapsulated_data_t packet;
- mavlink_msg_encapsulated_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- encapsdata payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.seqnr, {packet.data}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 132: {
- mavlink_distance_sensor_t packet;
- mavlink_msg_distance_sensor_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- distance_sens payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.min_distance,
- packet.max_distance, packet.current_distance, packet.type, packet.id,
- packet.orientation, packet.covariance, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 133: {
- mavlink_terrain_request_t packet;
- mavlink_msg_terrain_request_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- terrain_request payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.mask, packet.lat, packet.lon,
- packet.grid_spacing, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 134: {
- mavlink_terrain_data_t packet;
- mavlink_msg_terrain_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- terrain_dat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.lat, packet.lon, packet.grid_spacing,
- {packet.data}, packet.gridbit, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 135: {
- mavlink_terrain_check_t packet;
- mavlink_msg_terrain_check_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- terrain_chk payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.lat, packet.lon, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 136: {
- mavlink_terrain_report_t packet;
- mavlink_msg_terrain_report_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- terrain_report payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.lat, packet.lon, packet.terrain_height,
- packet.current_height, packet.spacing, packet.pending, packet.loaded, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 137: {
- mavlink_scaled_pressure2_t packet;
- mavlink_msg_scaled_pressure2_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scalepres2 payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.press_abs, packet.press_diff,
- packet.temperature, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 138: {
- mavlink_att_pos_mocap_t packet;
- mavlink_msg_att_pos_mocap_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- att_pos_mocap payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, {packet.q}, packet.x,
- packet.y, packet.z, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 139: {
- mavlink_set_actuator_control_target_t packet;
- mavlink_msg_set_actuator_control_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- set_actuator_control_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, {packet.controls}, packet.group_mlx,
- packet.target_system, packet.target_component, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 140: {
- mavlink_actuator_control_target_t packet;
- mavlink_msg_actuator_control_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- actuator_control_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, {packet.controls}, packet.group_mlx, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 141: {
- mavlink_altitude_t packet;
- mavlink_msg_altitude_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- alt payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.altitude_monotonic,
- packet.altitude_amsl, packet.altitude_local, packet.altitude_relative,
- packet.altitude_terrain, packet.bottom_clearance, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 142: {
- mavlink_resource_request_t packet;
- mavlink_msg_resource_request_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- rscreq payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.request_id, packet.uri_type, {packet.uri},
- packet.transfer_type, {packet.storage}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 143: {
- mavlink_scaled_pressure3_t packet;
- mavlink_msg_scaled_pressure3_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- scalepress3 payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.press_abs,
- packet.press_diff, packet.temperature, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 144: {
- mavlink_follow_target_t packet;
- mavlink_msg_follow_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- fol_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.timestamp, packet.custom_state, packet.lat,
- packet.lon, packet.alt, {packet.vel}, {packet.acc}, {packet.attitude_q}, {packet.rates},
- {packet.position_cov}, packet.est_capabilities, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 146: {
- mavlink_control_system_state_t packet;
- mavlink_msg_control_system_state_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- ctrlsys_state payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.x_acc, packet.y_acc,
- packet.z_acc, packet.x_vel, packet.y_vel, packet.z_vel, packet.x_pos,
- packet.y_pos, packet.z_pos, packet.airspeed, {packet.vel_variance},
- {packet.pos_variance}, {packet.q}, packet.roll_rate, packet.pitch_rate,
- packet.yaw_rate, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 147: {
- mavlink_battery_status_t packet;
- mavlink_msg_battery_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- battstat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.current_consumed, packet.energy_consumed,
- packet.temperature, {packet.voltages}, packet.current_battery, packet.id,
- packet.battery_function, packet.type, packet.battery_remaining, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 148: {
- mavlink_autopilot_version_t packet;
- mavlink_msg_autopilot_version_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- autopilotver payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.capabilities, packet.uid, packet.flight_sw_version,
- packet.middleware_sw_version, packet.os_sw_version, packet.board_version,
- packet.vendor_id, packet.product_id, {packet.flight_custom_version},
- {packet.middleware_custom_version}, {packet.os_custom_version}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 149: {
- mavlink_landing_target_t packet;
- mavlink_msg_landing_target_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- ldg_target payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.angle_x, packet.angle_y,
- packet.distance, packet.size_x, packet.size_y, packet.target_num,
- packet.frame, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 162: {
- mavlink_fence_status_t packet;
- mavlink_msg_fence_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- fencestat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.breach_time, packet.breach_count, packet.breach_status,
- packet.breach_type, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 192: {
- mavlink_mag_cal_report_t packet;
- mavlink_msg_mag_cal_report_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mag_cal_report payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.fitness, packet.ofs_x, packet.ofs_y,
- packet.ofs_z, packet.diag_x, packet.diag_y, packet.diag_z, packet.offdiag_x,
- packet.offdiag_y, packet.offdiag_z, packet.compass_id, packet.cal_mask,
- packet.cal_status, packet.autosaved, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 225: {
- mavlink_efi_status_t packet;
- mavlink_msg_efi_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- efistat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.ecu_index, packet.rpm, packet.fuel_consumed,
- packet.fuel_flow, packet.engine_load, packet.throttle_position,
- packet.spark_dwell_time, packet.barometric_pressure, packet.intake_manifold_pressure,
- packet.intake_manifold_temperature, packet.cylinder_head_temperature,
- packet.ignition_timing, packet.injection_time, packet.exhaust_gas_temperature,
- packet.throttle_out, packet.pt_compensation, packet.health, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 230: {
- mavlink_estimator_status_t packet;
- mavlink_msg_estimator_status_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- estimstat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.vel_ratio,
- packet.pos_horiz_ratio, packet.pos_vert_ratio, packet.mag_ratio,
- packet.hagl_ratio, packet.tas_ratio, packet.pos_horiz_accuracy,
- packet.pos_vert_accuracy, packet.flags, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 231: {
- mavlink_wind_cov_t packet;
- mavlink_msg_wind_cov_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- windcov payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.wind_x, packet.wind_y,
- packet.wind_z, packet.var_horiz, packet.var_vert, packet.wind_alt,
- packet.horiz_accuracy, packet.vert_accuracy, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 232: {
- mavlink_gps_input_t packet;
- mavlink_msg_gps_input_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gpsin payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.time_week_ms, packet.lat,
- packet.lon, packet.alt, packet.hdop, packet.vdop, packet.vn, packet.ve,
- packet.vd, packet.speed_accuracy, packet.horiz_accuracy, packet.vert_accuracy,
- packet.ignore_flags, packet.time_week, packet.gps_id, packet.fix_type,
- packet.satellites_visible, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 233: {
- mavlink_gps_rtcm_data_t packet;
- mavlink_msg_gps_rtcm_data_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- gps_rtcm_data payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.flags, packet.len, {packet.data}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 234: {
- mavlink_high_latency_t packet;
- mavlink_msg_high_latency_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- highlaten payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.custom_mode, packet.latitude, packet.longitude,
- packet.roll, packet.pitch, packet.heading, packet.heading_sp,
- packet.altitude_amsl, packet.altitude_sp, packet.wp_distance, packet.base_mode,
- packet.landed_state, packet.throttle, packet.airspeed, packet.airspeed_sp,
- packet.groundspeed, packet.climb_rate, packet.gps_nsat, packet.gps_fix_type,
- packet.battery_remaining, packet.temperature, packet.temperature_air,
- packet.failsafe, packet.wp_num, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 235: {
- mavlink_high_latency2_t packet;
- mavlink_msg_high_latency2_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- highlaten2 payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.timestamp, packet.latitude, packet.longitude,
- packet.custom_mode, packet.altitude, packet.target_altitude, packet.target_distance,
- packet.wp_num, packet.failure_flags, packet.type, packet.autopilot, packet.heading,
- packet.target_heading, packet.throttle, packet.airspeed, packet.airspeed_sp,
- packet.groundspeed, packet.windspeed, packet.wind_heading, packet.eph,
- packet.epv, packet.temperature_air, packet.climb_rate, packet.battery, packet.custom0,
- packet.custom1, packet.custom2, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 241: {
- mavlink_vibration_t packet;
- mavlink_msg_vibration_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- vibrat payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.vibration_x,
- packet.vibration_y, packet.vibration_z, packet.clipping_0, packet.clipping_1,
- packet.clipping_2, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 242: {
- mavlink_home_position_t packet;
- mavlink_msg_home_position_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- homepos payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.latitude, packet.longitude, packet.altitude,
- packet.x, packet.y, packet.z, {packet.q}, packet.approach_x,
- packet.approach_y, packet.approach_z, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 243: {
- mavlink_set_home_position_t packet;
- mavlink_msg_set_home_position_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- sethome_pos payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.latitude, packet.longitude, packet.altitude,
- packet.x, packet.y, packet.z, {packet.q}, packet.approach_x, packet.approach_y,
- packet.approach_z, packet.target_system, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 244: {
- mavlink_message_interval_t packet;
- mavlink_msg_message_interval_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- message_interval payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.interval_us, packet.message_id, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 245: {
- mavlink_extended_sys_state_t packet;
- mavlink_msg_extended_sys_state_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- extended_sys_state payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.vtol_state, packet.landed_state, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 246: {
- mavlink_adsb_vehicle_t packet;
- mavlink_msg_adsb_vehicle_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- adsb_vehicle payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.ICAO_address, packet.lat, packet.lon,
- packet.altitude, packet.heading, packet.hor_velocity, packet.ver_velocity, packet.flags,
- packet.squawk, packet.altitude_type, {packet.callsign}, packet.emitter_type,
- packet.tslc, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 247: {
- mavlink_collision_t packet;
- mavlink_msg_collision_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- collision payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.id, packet.time_to_minimum_delta,
- packet.altitude_minimum_delta, packet.horizontal_minimum_delta, packet.src,
- packet.action, packet.threat_level, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 248: {
- mavlink_v2_extension_t packet;
- mavlink_msg_v2_extension_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- v2ext payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.message_type, packet.target_network,
- packet.target_system, packet.target_component, {packet.payload}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 249: {
- mavlink_memory_vect_t packet;
- mavlink_msg_memory_vect_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- mem_vect payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.address, packet.ver, packet.type, {packet.value}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 250: {
- mavlink_debug_vect_t packet;
- mavlink_msg_debug_vect_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- debug_vect payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_usec, packet.x, packet.y, packet.z,
- {packet.name}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 251: {
- mavlink_named_value_float_t packet;
- mavlink_msg_named_value_float_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- namedval_float payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.value, {packet.name}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 252: {
- mavlink_named_value_int_t packet;
- mavlink_msg_named_value_int_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- namedval_int payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.value, {packet.name}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 253: {
- mavlink_statustext_t packet;
- mavlink_msg_statustext_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- statustext payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.severity, {packet.text}, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- case 254: {
- mavlink_debug_t packet;
- mavlink_msg_debug_decode(&msg, &packet);
- received_sysid = msg.sysid;
- received_compid = msg.compid;
- received_msgid = msg.msgid;
- struct combine {
- header head_data;
- debugging payload_data;
- }__attribute__((packed)); struct combine merge;
- merge.head_data = {msg.magic, msg.len, msg.seq, received_sysid, received_compid, received_msgid};
- merge.payload_data = {packet.time_boot_ms, packet.value, packet.ind, msg.checksum};
- //sizeMerge = sizeof(merge); payloadSize = sizeof(merge.payload_data);
- char _data[sizeof(merge)];
- memcpy(_data, &merge, sizeof(merge));
- encryption_start(_data, sizeof(merge), sizeof(merge.payload_data));
- }break;
- default: {
- if ((Serial2.available()) && c == 0xFE) {
- uint8_t len = Serial2.read();
- /* +6 for stx, len, seq, sysid, compid, msgid;
- len for total payload;
- +2 for cksum */
- char mav[6+len+2];
- mav[0] = c;
- mav[1] = len;
- for (int x = 2; x < sizeof(mav); x++) {
- if (Serial2.available()) {
- mav[x] = Serial2.read();
- }
- }
- encryption_start(mav, sizeof(mav), len+2);
- }
- }break;
- }
- }
- }
- }
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