text: #pragma once
  // MESSAGE RANGEFINDER PACKING
  
  #define MAVLINK_MSG_ID_RANGEFINDER 173
  
  
  typedef struct __mavlink_rangefinder_t {
   float distance; /*< [m] Distance.*/
   float voltage; /*< [V] Raw voltage if available, zero otherwise.*/
  } mavlink_rangefinder_t;
  
  #define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
  #define MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN 8
  #define MAVLINK_MSG_ID_173_LEN 8
  #define MAVLINK_MSG_ID_173_MIN_LEN 8
  
  #define MAVLINK_MSG_ID_RANGEFINDER_CRC 83
  #define MAVLINK_MSG_ID_173_CRC 83
  
  
  
  #if MAVLINK_COMMAND_24BIT
  #define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
      173, \
      "RANGEFINDER", \
      2, \
      {  { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
           { "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
           } \
  }
  #else
  #define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
      "RANGEFINDER", \
      2, \
      {  { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
           { "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
           } \
  }
  #endif
  
  /**
   * @brief Pack a rangefinder message
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param msg The MAVLink message to compress the data into
   *
   * @param distance [m] Distance.
   * @param voltage [V] Raw voltage if available, zero otherwise.
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                 float distance, float voltage)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
      _mav_put_float(buf, 0, distance);
      _mav_put_float(buf, 4, voltage);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
  #else
      mavlink_rangefinder_t packet;
      packet.distance = distance;
      packet.voltage = voltage;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
  #endif
  
      msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
      return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  }
  
  /**
   * @brief Pack a rangefinder message on a channel
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param chan The MAVLink channel this message will be sent over
   * @param msg The MAVLink message to compress the data into
   * @param distance [m] Distance.
   * @param voltage [V] Raw voltage if available, zero otherwise.
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                 mavlink_message_t* msg,
                                     float distance,float voltage)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
      _mav_put_float(buf, 0, distance);
      _mav_put_float(buf, 4, voltage);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
  #else
      mavlink_rangefinder_t packet;
      packet.distance = distance;
      packet.voltage = voltage;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
  #endif
  
      msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
      return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  }
  
  /**
   * @brief Encode a rangefinder struct
   *
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param msg The MAVLink message to compress the data into
   * @param rangefinder C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
  {
      return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
  }
  
  /**
   * @brief Encode a rangefinder struct on a channel
   *
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param chan The MAVLink channel this message will be sent over
   * @param msg The MAVLink message to compress the data into
   * @param rangefinder C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
  {
      return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
  }
  
  /**
   * @brief Send a rangefinder message
   * @param chan MAVLink channel to send the message
   *
   * @param distance [m] Distance.
   * @param voltage [V] Raw voltage if available, zero otherwise.
   */
  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
  
  static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
      _mav_put_float(buf, 0, distance);
      _mav_put_float(buf, 4, voltage);
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  #else
      mavlink_rangefinder_t packet;
      packet.distance = distance;
      packet.voltage = voltage;
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  #endif
  }
  
  /**
   * @brief Send a rangefinder message
   * @param chan MAVLink channel to send the message
   * @param struct The MAVLink struct to serialize
   */
  static inline void mavlink_msg_rangefinder_send_struct(mavlink_channel_t chan, const mavlink_rangefinder_t* rangefinder)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      mavlink_msg_rangefinder_send(chan, rangefinder->distance, rangefinder->voltage);
  #else
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)rangefinder, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  #endif
  }
  
  #if MAVLINK_MSG_ID_RANGEFINDER_LEN <= MAVLINK_MAX_PAYLOAD_LEN
  /*
    This varient of _send() can be used to save stack space by re-using
    memory from the receive buffer.  The caller provides a
    mavlink_message_t which is the size of a full mavlink message. This
    is usually the receive buffer for the channel, and allows a reply to an
    incoming message with minimum stack space usage.
   */
  static inline void mavlink_msg_rangefinder_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float distance, float voltage)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char *buf = (char *)msgbuf;
      _mav_put_float(buf, 0, distance);
      _mav_put_float(buf, 4, voltage);
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  #else
      mavlink_rangefinder_t *packet = (mavlink_rangefinder_t *)msgbuf;
      packet->distance = distance;
      packet->voltage = voltage;
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)packet, MAVLINK_MSG_ID_RANGEFINDER_MIN_LEN, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
  #endif
  }
  #endif
  
  #endif
  
  // MESSAGE RANGEFINDER UNPACKING
  
  
  /**
   * @brief Get field distance from rangefinder message
   *
   * @return [m] Distance.
   */
  static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_float(msg,  0);
  }
  
  /**
   * @brief Get field voltage from rangefinder message
   *
   * @return [V] Raw voltage if available, zero otherwise.
   */
  static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_float(msg,  4);
  }
  
  /**
   * @brief Decode a rangefinder message into a struct
   *
   * @param msg The message to decode
   * @param rangefinder C-struct to decode the message contents into
   */
  static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
      rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
  #else
          uint8_t len = msg->len < MAVLINK_MSG_ID_RANGEFINDER_LEN? msg->len : MAVLINK_MSG_ID_RANGEFINDER_LEN;
          memset(rangefinder, 0, MAVLINK_MSG_ID_RANGEFINDER_LEN);
      memcpy(rangefinder, _MAV_PAYLOAD(msg), len);
  #endif
  }
  