text: // MESSAGE HEARTBEAT PACKING
  
  #define MAVLINK_MSG_ID_HEARTBEAT 0
  
  typedef struct __mavlink_heartbeat_t
  {
   uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags.
   uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
   uint8_t system_status; ///< System status flag, see MAV_STATE ENUM
   uint8_t mavlink_version; ///< MAVLink version
  } mavlink_heartbeat_t;
  
  #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
  #define MAVLINK_MSG_ID_0_LEN 9
  
  #define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
  #define MAVLINK_MSG_ID_0_CRC 50
  
  
  
  #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
  	"HEARTBEAT", \
  	6, \
  	{  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
           { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
           { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
           { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
           { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
           { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
           } \
  }
  
  
  /**
   * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
   * @param custom_mode A bitfield for use for autopilot-specific flags.
   * @param system_status System status flag, see MAV_STATE ENUM
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  						       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
  	_mav_put_uint32_t(buf, 0, custom_mode);
  	_mav_put_uint8_t(buf, 4, type);
  	_mav_put_uint8_t(buf, 5, autopilot);
  	_mav_put_uint8_t(buf, 6, base_mode);
  	_mav_put_uint8_t(buf, 7, system_status);
  	_mav_put_uint8_t(buf, 8, 2);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #else
  	mavlink_heartbeat_t packet;
  	packet.custom_mode = custom_mode;
  	packet.type = type;
  	packet.autopilot = autopilot;
  	packet.base_mode = base_mode;
  	packet.system_status = system_status;
  	packet.mavlink_version = 2;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  
  	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
  #if MAVLINK_CRC_EXTRA
      return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
  #else
      return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  }
  
  /**
   * @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
   * @param custom_mode A bitfield for use for autopilot-specific flags.
   * @param system_status System status flag, see MAV_STATE ENUM
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  							   mavlink_message_t* msg,
  						           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
  	_mav_put_uint32_t(buf, 0, custom_mode);
  	_mav_put_uint8_t(buf, 4, type);
  	_mav_put_uint8_t(buf, 5, autopilot);
  	_mav_put_uint8_t(buf, 6, base_mode);
  	_mav_put_uint8_t(buf, 7, system_status);
  	_mav_put_uint8_t(buf, 8, 2);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #else
  	mavlink_heartbeat_t packet;
  	packet.custom_mode = custom_mode;
  	packet.type = type;
  	packet.autopilot = autopilot;
  	packet.base_mode = base_mode;
  	packet.system_status = system_status;
  	packet.mavlink_version = 2;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  
  	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
  #if MAVLINK_CRC_EXTRA
      return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
  #else
      return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  }
  
  /**
   * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
  {
  	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
  }
  
  /**
   * @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
  {
  	return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
  }
  
  /**
   * @brief Send a heartbeat message
   * @param chan MAVLink channel to send the message
   *
   * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
   * @param custom_mode A bitfield for use for autopilot-specific flags.
   * @param system_status System status flag, see MAV_STATE ENUM
   */
  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
  
  static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
  	_mav_put_uint32_t(buf, 0, custom_mode);
  	_mav_put_uint8_t(buf, 4, type);
  	_mav_put_uint8_t(buf, 5, autopilot);
  	_mav_put_uint8_t(buf, 6, base_mode);
  	_mav_put_uint8_t(buf, 7, system_status);
  	_mav_put_uint8_t(buf, 8, 2);
  
  #if MAVLINK_CRC_EXTRA
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
  #else
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  #else
  	mavlink_heartbeat_t packet;
  	packet.custom_mode = custom_mode;
  	packet.type = type;
  	packet.autopilot = autopilot;
  	packet.base_mode = base_mode;
  	packet.system_status = system_status;
  	packet.mavlink_version = 2;
  
  #if MAVLINK_CRC_EXTRA
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
  #else
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  #endif
  }
  
  #endif
  
  // MESSAGE HEARTBEAT UNPACKING
  
  
  /**
   * @brief Get field type from heartbeat message
   *
   * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
   */
  static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  4);
  }
  
  /**
   * @brief Get field autopilot from heartbeat message
   *
   * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
   */
  static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  5);
  }
  
  /**
   * @brief Get field base_mode from heartbeat message
   *
   * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
   */
  static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  6);
  }
  
  /**
   * @brief Get field custom_mode from heartbeat message
   *
   * @return A bitfield for use for autopilot-specific flags.
   */
  static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint32_t(msg,  0);
  }
  
  /**
   * @brief Get field system_status from heartbeat message
   *
   * @return System status flag, see MAV_STATE ENUM
   */
  static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  7);
  }
  
  /**
   * @brief Get field mavlink_version from heartbeat message
   *
   * @return MAVLink version
   */
  static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  8);
  }
  
  /**
   * @brief Decode a heartbeat message into a struct
   *
   * @param msg The message to decode
   * @param heartbeat C-struct to decode the message contents into
   */
  static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
  {
  #if MAVLINK_NEED_BYTE_SWAP
  	heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
  	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
  	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
  	heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
  	heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
  	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
  #else
  	memcpy(heartbeat, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HEARTBEAT_LEN);
  #endif
  }
  