mavlink_msg_position_target_global_int.h

Go to the documentation of this file.

// MESSAGE POSITION_TARGET_GLOBAL_INT PACKING

#define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT 87

typedef struct __mavlink_position_target_global_int_t
{
 uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.*/
 int32_t lat_int; /*< X Position in WGS84 frame in 1e7 * meters*/
 int32_t lon_int; /*< Y Position in WGS84 frame in 1e7 * meters*/
 float alt; /*< Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT*/
 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_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11*/
} mavlink_position_target_global_int_t;

#define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN 51
#define MAVLINK_MSG_ID_87_LEN 51

#define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC 150
#define MAVLINK_MSG_ID_87_CRC 150



#define MAVLINK_MESSAGE_INFO_POSITION_TARGET_GLOBAL_INT { \
        "POSITION_TARGET_GLOBAL_INT", \
        14, \
        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_global_int_t, time_boot_ms) }, \
         { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_position_target_global_int_t, lat_int) }, \
         { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_position_target_global_int_t, lon_int) }, \
         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_global_int_t, alt) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_global_int_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_global_int_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_global_int_t, vz) }, \
         { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_global_int_t, afx) }, \
         { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_global_int_t, afy) }, \
         { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_global_int_t, afz) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_global_int_t, yaw) }, \
         { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_global_int_t, yaw_rate) }, \
         { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_global_int_t, type_mask) }, \
         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_global_int_t, coordinate_frame) }, \
         } \
}


static inline uint16_t mavlink_msg_position_target_global_int_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, int32_t lat_int, int32_t lon_int, float alt, 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_GLOBAL_INT_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_int32_t(buf, 4, lat_int);
        _mav_put_int32_t(buf, 8, lon_int);
        _mav_put_float(buf, 12, alt);
        _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_GLOBAL_INT_LEN);
#else
        mavlink_position_target_global_int_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.lat_int = lat_int;
        packet.lon_int = lon_int;
        packet.alt = alt;
        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_GLOBAL_INT_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
}

static inline uint16_t mavlink_msg_position_target_global_int_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,int32_t lat_int,int32_t lon_int,float alt,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_GLOBAL_INT_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_int32_t(buf, 4, lat_int);
        _mav_put_int32_t(buf, 8, lon_int);
        _mav_put_float(buf, 12, alt);
        _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_GLOBAL_INT_LEN);
#else
        mavlink_position_target_global_int_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.lat_int = lat_int;
        packet.lon_int = lon_int;
        packet.alt = alt;
        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_GLOBAL_INT_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
}

static inline uint16_t mavlink_msg_position_target_global_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_global_int_t* position_target_global_int)
{
        return mavlink_msg_position_target_global_int_pack(system_id, component_id, msg, position_target_global_int->time_boot_ms, position_target_global_int->coordinate_frame, position_target_global_int->type_mask, position_target_global_int->lat_int, position_target_global_int->lon_int, position_target_global_int->alt, position_target_global_int->vx, position_target_global_int->vy, position_target_global_int->vz, position_target_global_int->afx, position_target_global_int->afy, position_target_global_int->afz, position_target_global_int->yaw, position_target_global_int->yaw_rate);
}

static inline uint16_t mavlink_msg_position_target_global_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_global_int_t* position_target_global_int)
{
        return mavlink_msg_position_target_global_int_pack_chan(system_id, component_id, chan, msg, position_target_global_int->time_boot_ms, position_target_global_int->coordinate_frame, position_target_global_int->type_mask, position_target_global_int->lat_int, position_target_global_int->lon_int, position_target_global_int->alt, position_target_global_int->vx, position_target_global_int->vy, position_target_global_int->vz, position_target_global_int->afx, position_target_global_int->afy, position_target_global_int->afz, position_target_global_int->yaw, position_target_global_int->yaw_rate);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_position_target_global_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, 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_GLOBAL_INT_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_int32_t(buf, 4, lat_int);
        _mav_put_int32_t(buf, 8, lon_int);
        _mav_put_float(buf, 12, alt);
        _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_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
#else
        mavlink_position_target_global_int_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.lat_int = lat_int;
        packet.lon_int = lon_int;
        packet.alt = alt;
        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_GLOBAL_INT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_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_global_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, 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_int32_t(buf, 4, lat_int);
        _mav_put_int32_t(buf, 8, lon_int);
        _mav_put_float(buf, 12, alt);
        _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_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
#else
        mavlink_position_target_global_int_t *packet = (mavlink_position_target_global_int_t *)msgbuf;
        packet->time_boot_ms = time_boot_ms;
        packet->lat_int = lat_int;
        packet->lon_int = lon_int;
        packet->alt = alt;
        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_GLOBAL_INT, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE POSITION_TARGET_GLOBAL_INT UNPACKING


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

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

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

static inline int32_t mavlink_msg_position_target_global_int_get_lat_int(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int32_t(msg,  4);
}

static inline int32_t mavlink_msg_position_target_global_int_get_lon_int(const mavlink_message_t* msg)
{
        return _MAV_RETURN_int32_t(msg,  8);
}

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

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

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

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

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

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

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

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

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

static inline void mavlink_msg_position_target_global_int_decode(const mavlink_message_t* msg, mavlink_position_target_global_int_t* position_target_global_int)
{
#if MAVLINK_NEED_BYTE_SWAP
        position_target_global_int->time_boot_ms = mavlink_msg_position_target_global_int_get_time_boot_ms(msg);
        position_target_global_int->lat_int = mavlink_msg_position_target_global_int_get_lat_int(msg);
        position_target_global_int->lon_int = mavlink_msg_position_target_global_int_get_lon_int(msg);
        position_target_global_int->alt = mavlink_msg_position_target_global_int_get_alt(msg);
        position_target_global_int->vx = mavlink_msg_position_target_global_int_get_vx(msg);
        position_target_global_int->vy = mavlink_msg_position_target_global_int_get_vy(msg);
        position_target_global_int->vz = mavlink_msg_position_target_global_int_get_vz(msg);
        position_target_global_int->afx = mavlink_msg_position_target_global_int_get_afx(msg);
        position_target_global_int->afy = mavlink_msg_position_target_global_int_get_afy(msg);
        position_target_global_int->afz = mavlink_msg_position_target_global_int_get_afz(msg);
        position_target_global_int->yaw = mavlink_msg_position_target_global_int_get_yaw(msg);
        position_target_global_int->yaw_rate = mavlink_msg_position_target_global_int_get_yaw_rate(msg);
        position_target_global_int->type_mask = mavlink_msg_position_target_global_int_get_type_mask(msg);
        position_target_global_int->coordinate_frame = mavlink_msg_position_target_global_int_get_coordinate_frame(msg);
#else
        memcpy(position_target_global_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
#endif
}