mavlink_msg_follow_target.h

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// MESSAGE FOLLOW_TARGET PACKING

#define MAVLINK_MSG_ID_FOLLOW_TARGET 144

typedef struct __mavlink_follow_target_t
{
 uint64_t timestamp; /*< Timestamp in milliseconds since system boot*/
 uint64_t custom_state; /*< button states or switches of a tracker device*/
 int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
 int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
 float alt; /*< AMSL, in meters*/
 float vel[3]; /*< target velocity (0,0,0) for unknown*/
 float acc[3]; /*< linear target acceleration (0,0,0) for unknown*/
 float attitude_q[4]; /*< (1 0 0 0 for unknown)*/
 float rates[3]; /*< (0 0 0 for unknown)*/
 float position_cov[3]; /*< eph epv*/
 uint8_t est_capabilities; /*< bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)*/
} mavlink_follow_target_t;

#define MAVLINK_MSG_ID_FOLLOW_TARGET_LEN 93
#define MAVLINK_MSG_ID_144_LEN 93

#define MAVLINK_MSG_ID_FOLLOW_TARGET_CRC 127
#define MAVLINK_MSG_ID_144_CRC 127

#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_VEL_LEN 3
#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ACC_LEN 3
#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ATTITUDE_Q_LEN 4
#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_RATES_LEN 3
#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_POSITION_COV_LEN 3

#define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \
        "FOLLOW_TARGET", \
        11, \
        {  { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \
         { "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \
         { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \
         { "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \
         { "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \
         { "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \
         { "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \
         { "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \
         } \
}


static inline uint16_t mavlink_msg_follow_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
        _mav_put_uint64_t(buf, 0, timestamp);
        _mav_put_uint64_t(buf, 8, custom_state);
        _mav_put_int32_t(buf, 16, lat);
        _mav_put_int32_t(buf, 20, lon);
        _mav_put_float(buf, 24, alt);
        _mav_put_uint8_t(buf, 92, est_capabilities);
        _mav_put_float_array(buf, 28, vel, 3);
        _mav_put_float_array(buf, 40, acc, 3);
        _mav_put_float_array(buf, 52, attitude_q, 4);
        _mav_put_float_array(buf, 68, rates, 3);
        _mav_put_float_array(buf, 80, position_cov, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#else
        mavlink_follow_target_t packet;
        packet.timestamp = timestamp;
        packet.custom_state = custom_state;
        packet.lat = lat;
        packet.lon = lon;
        packet.alt = alt;
        packet.est_capabilities = est_capabilities;
        mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
        mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
        mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
        mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
        mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
}

static inline uint16_t mavlink_msg_follow_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint64_t timestamp,uint8_t est_capabilities,int32_t lat,int32_t lon,float alt,const float *vel,const float *acc,const float *attitude_q,const float *rates,const float *position_cov,uint64_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
        _mav_put_uint64_t(buf, 0, timestamp);
        _mav_put_uint64_t(buf, 8, custom_state);
        _mav_put_int32_t(buf, 16, lat);
        _mav_put_int32_t(buf, 20, lon);
        _mav_put_float(buf, 24, alt);
        _mav_put_uint8_t(buf, 92, est_capabilities);
        _mav_put_float_array(buf, 28, vel, 3);
        _mav_put_float_array(buf, 40, acc, 3);
        _mav_put_float_array(buf, 52, attitude_q, 4);
        _mav_put_float_array(buf, 68, rates, 3);
        _mav_put_float_array(buf, 80, position_cov, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#else
        mavlink_follow_target_t packet;
        packet.timestamp = timestamp;
        packet.custom_state = custom_state;
        packet.lat = lat;
        packet.lon = lon;
        packet.alt = alt;
        packet.est_capabilities = est_capabilities;
        mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
        mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
        mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
        mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
        mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
}

static inline uint16_t mavlink_msg_follow_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
{
        return mavlink_msg_follow_target_pack(system_id, component_id, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
}

static inline uint16_t mavlink_msg_follow_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
{
        return mavlink_msg_follow_target_pack_chan(system_id, component_id, chan, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_follow_target_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
        _mav_put_uint64_t(buf, 0, timestamp);
        _mav_put_uint64_t(buf, 8, custom_state);
        _mav_put_int32_t(buf, 16, lat);
        _mav_put_int32_t(buf, 20, lon);
        _mav_put_float(buf, 24, alt);
        _mav_put_uint8_t(buf, 92, est_capabilities);
        _mav_put_float_array(buf, 28, vel, 3);
        _mav_put_float_array(buf, 40, acc, 3);
        _mav_put_float_array(buf, 52, attitude_q, 4);
        _mav_put_float_array(buf, 68, rates, 3);
        _mav_put_float_array(buf, 80, position_cov, 3);
#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
#else
        mavlink_follow_target_t packet;
        packet.timestamp = timestamp;
        packet.custom_state = custom_state;
        packet.lat = lat;
        packet.lon = lon;
        packet.alt = alt;
        packet.est_capabilities = est_capabilities;
        mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
        mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
        mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
        mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
        mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)&packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)&packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_FOLLOW_TARGET_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_follow_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint64_t(buf, 0, timestamp);
        _mav_put_uint64_t(buf, 8, custom_state);
        _mav_put_int32_t(buf, 16, lat);
        _mav_put_int32_t(buf, 20, lon);
        _mav_put_float(buf, 24, alt);
        _mav_put_uint8_t(buf, 92, est_capabilities);
        _mav_put_float_array(buf, 28, vel, 3);
        _mav_put_float_array(buf, 40, acc, 3);
        _mav_put_float_array(buf, 52, attitude_q, 4);
        _mav_put_float_array(buf, 68, rates, 3);
        _mav_put_float_array(buf, 80, position_cov, 3);
#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
#else
        mavlink_follow_target_t *packet = (mavlink_follow_target_t *)msgbuf;
        packet->timestamp = timestamp;
        packet->custom_state = custom_state;
        packet->lat = lat;
        packet->lon = lon;
        packet->alt = alt;
        packet->est_capabilities = est_capabilities;
        mav_array_memcpy(packet->vel, vel, sizeof(float)*3);
        mav_array_memcpy(packet->acc, acc, sizeof(float)*3);
        mav_array_memcpy(packet->attitude_q, attitude_q, sizeof(float)*4);
        mav_array_memcpy(packet->rates, rates, sizeof(float)*3);
        mav_array_memcpy(packet->position_cov, position_cov, sizeof(float)*3);
#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE FOLLOW_TARGET UNPACKING


static inline uint64_t mavlink_msg_follow_target_get_timestamp(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint64_t(msg,  0);
}

static inline uint8_t mavlink_msg_follow_target_get_est_capabilities(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint8_t(msg,  92);
}

static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int32_t(msg,  16);
}

static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int32_t(msg,  20);
}

static inline float mavlink_msg_follow_target_get_alt(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  24);
}

static inline uint16_t mavlink_msg_follow_target_get_vel(const mavlink_message_t* msg, float *vel)
{
        return _MAV_RETURN_float_array(msg, vel, 3,  28);
}

static inline uint16_t mavlink_msg_follow_target_get_acc(const mavlink_message_t* msg, float *acc)
{
        return _MAV_RETURN_float_array(msg, acc, 3,  40);
}

static inline uint16_t mavlink_msg_follow_target_get_attitude_q(const mavlink_message_t* msg, float *attitude_q)
{
        return _MAV_RETURN_float_array(msg, attitude_q, 4,  52);
}

static inline uint16_t mavlink_msg_follow_target_get_rates(const mavlink_message_t* msg, float *rates)
{
        return _MAV_RETURN_float_array(msg, rates, 3,  68);
}

static inline uint16_t mavlink_msg_follow_target_get_position_cov(const mavlink_message_t* msg, float *position_cov)
{
        return _MAV_RETURN_float_array(msg, position_cov, 3,  80);
}

static inline uint64_t mavlink_msg_follow_target_get_custom_state(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint64_t(msg,  8);
}

static inline void mavlink_msg_follow_target_decode(const mavlink_message_t* msg, mavlink_follow_target_t* follow_target)
{
#if MAVLINK_NEED_BYTE_SWAP
        follow_target->timestamp = mavlink_msg_follow_target_get_timestamp(msg);
        follow_target->custom_state = mavlink_msg_follow_target_get_custom_state(msg);
        follow_target->lat = mavlink_msg_follow_target_get_lat(msg);
        follow_target->lon = mavlink_msg_follow_target_get_lon(msg);
        follow_target->alt = mavlink_msg_follow_target_get_alt(msg);
        mavlink_msg_follow_target_get_vel(msg, follow_target->vel);
        mavlink_msg_follow_target_get_acc(msg, follow_target->acc);
        mavlink_msg_follow_target_get_attitude_q(msg, follow_target->attitude_q);
        mavlink_msg_follow_target_get_rates(msg, follow_target->rates);
        mavlink_msg_follow_target_get_position_cov(msg, follow_target->position_cov);
        follow_target->est_capabilities = mavlink_msg_follow_target_get_est_capabilities(msg);
#else
        memcpy(follow_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
#endif
}