mavlink_msg_position_target_local_ned.h

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// MESSAGE POSITION_TARGET_LOCAL_NED PACKING

#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED 85

typedef struct __mavlink_position_target_local_ned_t
{
 uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
 float x; /*< X Position in NED frame in meters*/
 float y; /*< Y Position in NED frame in meters*/
 float z; /*< Z Position in NED frame in meters (note, altitude is negative in NED)*/
 float vx; /*< X velocity in NED frame in meter / s*/
 float vy; /*< Y velocity in NED frame in meter / s*/
 float vz; /*< Z velocity in NED frame in meter / s*/
 float afx; /*< X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
 float afy; /*< Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
 float afz; /*< Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
 float yaw; /*< yaw setpoint in rad*/
 float yaw_rate; /*< yaw rate setpoint in rad/s*/
 uint16_t type_mask; /*< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate*/
 uint8_t coordinate_frame; /*< Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9*/
} mavlink_position_target_local_ned_t;

#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN 51
#define MAVLINK_MSG_ID_85_LEN 51

#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC 140
#define MAVLINK_MSG_ID_85_CRC 140



#define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \
        "POSITION_TARGET_LOCAL_NED", \
        14, \
        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \
         { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \
         { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \
         { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \
         { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \
         { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \
         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \
         } \
}


static inline uint16_t mavlink_msg_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, x);
        _mav_put_float(buf, 8, y);
        _mav_put_float(buf, 12, z);
        _mav_put_float(buf, 16, vx);
        _mav_put_float(buf, 20, vy);
        _mav_put_float(buf, 24, vz);
        _mav_put_float(buf, 28, afx);
        _mav_put_float(buf, 32, afy);
        _mav_put_float(buf, 36, afz);
        _mav_put_float(buf, 40, yaw);
        _mav_put_float(buf, 44, yaw_rate);
        _mav_put_uint16_t(buf, 48, type_mask);
        _mav_put_uint8_t(buf, 50, coordinate_frame);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#else
        mavlink_position_target_local_ned_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.x = x;
        packet.y = y;
        packet.z = z;
        packet.vx = vx;
        packet.vy = vy;
        packet.vz = vz;
        packet.afx = afx;
        packet.afy = afy;
        packet.afz = afz;
        packet.yaw = yaw;
        packet.yaw_rate = yaw_rate;
        packet.type_mask = type_mask;
        packet.coordinate_frame = coordinate_frame;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
}

static inline uint16_t mavlink_msg_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint32_t time_boot_ms,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, x);
        _mav_put_float(buf, 8, y);
        _mav_put_float(buf, 12, z);
        _mav_put_float(buf, 16, vx);
        _mav_put_float(buf, 20, vy);
        _mav_put_float(buf, 24, vz);
        _mav_put_float(buf, 28, afx);
        _mav_put_float(buf, 32, afy);
        _mav_put_float(buf, 36, afz);
        _mav_put_float(buf, 40, yaw);
        _mav_put_float(buf, 44, yaw_rate);
        _mav_put_uint16_t(buf, 48, type_mask);
        _mav_put_uint8_t(buf, 50, coordinate_frame);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#else
        mavlink_position_target_local_ned_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.x = x;
        packet.y = y;
        packet.z = z;
        packet.vx = vx;
        packet.vy = vy;
        packet.vz = vz;
        packet.afx = afx;
        packet.afy = afy;
        packet.afz = afz;
        packet.yaw = yaw;
        packet.yaw_rate = yaw_rate;
        packet.type_mask = type_mask;
        packet.coordinate_frame = coordinate_frame;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
}

static inline uint16_t mavlink_msg_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
{
        return mavlink_msg_position_target_local_ned_pack(system_id, component_id, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
}

static inline uint16_t mavlink_msg_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
{
        return mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, x);
        _mav_put_float(buf, 8, y);
        _mav_put_float(buf, 12, z);
        _mav_put_float(buf, 16, vx);
        _mav_put_float(buf, 20, vy);
        _mav_put_float(buf, 24, vz);
        _mav_put_float(buf, 28, afx);
        _mav_put_float(buf, 32, afy);
        _mav_put_float(buf, 36, afz);
        _mav_put_float(buf, 40, yaw);
        _mav_put_float(buf, 44, yaw_rate);
        _mav_put_uint16_t(buf, 48, type_mask);
        _mav_put_uint8_t(buf, 50, coordinate_frame);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
#else
        mavlink_position_target_local_ned_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.x = x;
        packet.y = y;
        packet.z = z;
        packet.vx = vx;
        packet.vy = vy;
        packet.vz = vz;
        packet.afx = afx;
        packet.afy = afy;
        packet.afz = afz;
        packet.yaw = yaw;
        packet.yaw_rate = yaw_rate;
        packet.type_mask = type_mask;
        packet.coordinate_frame = coordinate_frame;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_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_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, x);
        _mav_put_float(buf, 8, y);
        _mav_put_float(buf, 12, z);
        _mav_put_float(buf, 16, vx);
        _mav_put_float(buf, 20, vy);
        _mav_put_float(buf, 24, vz);
        _mav_put_float(buf, 28, afx);
        _mav_put_float(buf, 32, afy);
        _mav_put_float(buf, 36, afz);
        _mav_put_float(buf, 40, yaw);
        _mav_put_float(buf, 44, yaw_rate);
        _mav_put_uint16_t(buf, 48, type_mask);
        _mav_put_uint8_t(buf, 50, coordinate_frame);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
#else
        mavlink_position_target_local_ned_t *packet = (mavlink_position_target_local_ned_t *)msgbuf;
        packet->time_boot_ms = time_boot_ms;
        packet->x = x;
        packet->y = y;
        packet->z = z;
        packet->vx = vx;
        packet->vy = vy;
        packet->vz = vz;
        packet->afx = afx;
        packet->afy = afy;
        packet->afz = afz;
        packet->yaw = yaw;
        packet->yaw_rate = yaw_rate;
        packet->type_mask = type_mask;
        packet->coordinate_frame = coordinate_frame;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE POSITION_TARGET_LOCAL_NED UNPACKING


static inline uint32_t mavlink_msg_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint32_t(msg,  0);
}

static inline uint8_t mavlink_msg_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint8_t(msg,  50);
}

static inline uint16_t mavlink_msg_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  48);
}

static inline float mavlink_msg_position_target_local_ned_get_x(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  4);
}

static inline float mavlink_msg_position_target_local_ned_get_y(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  8);
}

static inline float mavlink_msg_position_target_local_ned_get_z(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  12);
}

static inline float mavlink_msg_position_target_local_ned_get_vx(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  16);
}

static inline float mavlink_msg_position_target_local_ned_get_vy(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  20);
}

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

static inline float mavlink_msg_position_target_local_ned_get_afx(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  28);
}

static inline float mavlink_msg_position_target_local_ned_get_afy(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  32);
}

static inline float mavlink_msg_position_target_local_ned_get_afz(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  36);
}

static inline float mavlink_msg_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  40);
}

static inline float mavlink_msg_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  44);
}

static inline void mavlink_msg_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_position_target_local_ned_t* position_target_local_ned)
{
#if MAVLINK_NEED_BYTE_SWAP
        position_target_local_ned->time_boot_ms = mavlink_msg_position_target_local_ned_get_time_boot_ms(msg);
        position_target_local_ned->x = mavlink_msg_position_target_local_ned_get_x(msg);
        position_target_local_ned->y = mavlink_msg_position_target_local_ned_get_y(msg);
        position_target_local_ned->z = mavlink_msg_position_target_local_ned_get_z(msg);
        position_target_local_ned->vx = mavlink_msg_position_target_local_ned_get_vx(msg);
        position_target_local_ned->vy = mavlink_msg_position_target_local_ned_get_vy(msg);
        position_target_local_ned->vz = mavlink_msg_position_target_local_ned_get_vz(msg);
        position_target_local_ned->afx = mavlink_msg_position_target_local_ned_get_afx(msg);
        position_target_local_ned->afy = mavlink_msg_position_target_local_ned_get_afy(msg);
        position_target_local_ned->afz = mavlink_msg_position_target_local_ned_get_afz(msg);
        position_target_local_ned->yaw = mavlink_msg_position_target_local_ned_get_yaw(msg);
        position_target_local_ned->yaw_rate = mavlink_msg_position_target_local_ned_get_yaw_rate(msg);
        position_target_local_ned->type_mask = mavlink_msg_position_target_local_ned_get_type_mask(msg);
        position_target_local_ned->coordinate_frame = mavlink_msg_position_target_local_ned_get_coordinate_frame(msg);
#else
        memcpy(position_target_local_ned, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
#endif
}