lib/main/MAVLink/common/mavlink_msg_hil_state.h

   1 // MESSAGE HIL_STATE PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_STATE 90
   4
   5 typedef struct __mavlink_hil_state_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   8  float roll; ///< Roll angle (rad)
   9  float pitch; ///< Pitch angle (rad)
  10  float yaw; ///< Yaw angle (rad)
  11  float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
  12  float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
  13  float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
  14  int32_t lat; ///< Latitude, expressed as * 1E7
  15  int32_t lon; ///< Longitude, expressed as * 1E7
  16  int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
  17  int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
  18  int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
  19  int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
  20  int16_t xacc; ///< X acceleration (mg)
  21  int16_t yacc; ///< Y acceleration (mg)
  22  int16_t zacc; ///< Z acceleration (mg)
  23 } mavlink_hil_state_t;
  24
  25 #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
  26 #define MAVLINK_MSG_ID_90_LEN 56
  27
  28 #define MAVLINK_MSG_ID_HIL_STATE_CRC 183
  29 #define MAVLINK_MSG_ID_90_CRC 183
  30
  31
  32
  33 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
  34         "HIL_STATE", \
  35         16, \
  36         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  37          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  38          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  39          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  40          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  41          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  42          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  43          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  44          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  45          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  46          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  47          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  48          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  49          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  50          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  51          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  52          } \
  53 }
  54
  55
  56 /**
  57  * @brief Pack a hil_state message
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param msg The MAVLink message to compress the data into
  61  *
  62  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  63  * @param roll Roll angle (rad)
  64  * @param pitch Pitch angle (rad)
  65  * @param yaw Yaw angle (rad)
  66  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  67  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  68  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
  69  * @param lat Latitude, expressed as * 1E7
  70  * @param lon Longitude, expressed as * 1E7
  71  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  72  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  73  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  74  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
  75  * @param xacc X acceleration (mg)
  76  * @param yacc Y acceleration (mg)
  77  * @param zacc Z acceleration (mg)
  78  * @return length of the message in bytes (excluding serial stream start sign)
  79  */
  80 static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  81                                                        uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
  82 {
  83 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  84         char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
  85         _mav_put_uint64_t(buf, 0, time_usec);
  86         _mav_put_float(buf, 8, roll);
  87         _mav_put_float(buf, 12, pitch);
  88         _mav_put_float(buf, 16, yaw);
  89         _mav_put_float(buf, 20, rollspeed);
  90         _mav_put_float(buf, 24, pitchspeed);
  91         _mav_put_float(buf, 28, yawspeed);
  92         _mav_put_int32_t(buf, 32, lat);
  93         _mav_put_int32_t(buf, 36, lon);
  94         _mav_put_int32_t(buf, 40, alt);
  95         _mav_put_int16_t(buf, 44, vx);
  96         _mav_put_int16_t(buf, 46, vy);
  97         _mav_put_int16_t(buf, 48, vz);
  98         _mav_put_int16_t(buf, 50, xacc);
  99         _mav_put_int16_t(buf, 52, yacc);
 100         _mav_put_int16_t(buf, 54, zacc);
 101
 102         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 103 #else
 104         mavlink_hil_state_t packet;
 105         packet.time_usec = time_usec;
 106         packet.roll = roll;
 107         packet.pitch = pitch;
 108         packet.yaw = yaw;
 109         packet.rollspeed = rollspeed;
 110         packet.pitchspeed = pitchspeed;
 111         packet.yawspeed = yawspeed;
 112         packet.lat = lat;
 113         packet.lon = lon;
 114         packet.alt = alt;
 115         packet.vx = vx;
 116         packet.vy = vy;
 117         packet.vz = vz;
 118         packet.xacc = xacc;
 119         packet.yacc = yacc;
 120         packet.zacc = zacc;
 121
 122         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 123 #endif
 124
 125         msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 126 #if MAVLINK_CRC_EXTRA
 127     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 128 #else
 129     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN);
 130 #endif
 131 }
 132
 133 /**
 134  * @brief Pack a hil_state message on a channel
 135  * @param system_id ID of this system
 136  * @param component_id ID of this component (e.g. 200 for IMU)
 137  * @param chan The MAVLink channel this message will be sent over
 138  * @param msg The MAVLink message to compress the data into
 139  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 140  * @param roll Roll angle (rad)
 141  * @param pitch Pitch angle (rad)
 142  * @param yaw Yaw angle (rad)
 143  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 144  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 145  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 146  * @param lat Latitude, expressed as * 1E7
 147  * @param lon Longitude, expressed as * 1E7
 148  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 149  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 150  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 151  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 152  * @param xacc X acceleration (mg)
 153  * @param yacc Y acceleration (mg)
 154  * @param zacc Z acceleration (mg)
 155  * @return length of the message in bytes (excluding serial stream start sign)
 156  */
 157 static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 158                                                            mavlink_message_t* msg,
 159                                                            uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
 160 {
 161 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 162         char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 163         _mav_put_uint64_t(buf, 0, time_usec);
 164         _mav_put_float(buf, 8, roll);
 165         _mav_put_float(buf, 12, pitch);
 166         _mav_put_float(buf, 16, yaw);
 167         _mav_put_float(buf, 20, rollspeed);
 168         _mav_put_float(buf, 24, pitchspeed);
 169         _mav_put_float(buf, 28, yawspeed);
 170         _mav_put_int32_t(buf, 32, lat);
 171         _mav_put_int32_t(buf, 36, lon);
 172         _mav_put_int32_t(buf, 40, alt);
 173         _mav_put_int16_t(buf, 44, vx);
 174         _mav_put_int16_t(buf, 46, vy);
 175         _mav_put_int16_t(buf, 48, vz);
 176         _mav_put_int16_t(buf, 50, xacc);
 177         _mav_put_int16_t(buf, 52, yacc);
 178         _mav_put_int16_t(buf, 54, zacc);
 179
 180         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 181 #else
 182         mavlink_hil_state_t packet;
 183         packet.time_usec = time_usec;
 184         packet.roll = roll;
 185         packet.pitch = pitch;
 186         packet.yaw = yaw;
 187         packet.rollspeed = rollspeed;
 188         packet.pitchspeed = pitchspeed;
 189         packet.yawspeed = yawspeed;
 190         packet.lat = lat;
 191         packet.lon = lon;
 192         packet.alt = alt;
 193         packet.vx = vx;
 194         packet.vy = vy;
 195         packet.vz = vz;
 196         packet.xacc = xacc;
 197         packet.yacc = yacc;
 198         packet.zacc = zacc;
 199
 200         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 201 #endif
 202
 203         msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 204 #if MAVLINK_CRC_EXTRA
 205     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 206 #else
 207     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN);
 208 #endif
 209 }
 210
 211 /**
 212  * @brief Encode a hil_state struct
 213  *
 214  * @param system_id ID of this system
 215  * @param component_id ID of this component (e.g. 200 for IMU)
 216  * @param msg The MAVLink message to compress the data into
 217  * @param hil_state C-struct to read the message contents from
 218  */
 219 static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 220 {
 221         return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 222 }
 223
 224 /**
 225  * @brief Encode a hil_state struct on a channel
 226  *
 227  * @param system_id ID of this system
 228  * @param component_id ID of this component (e.g. 200 for IMU)
 229  * @param chan The MAVLink channel this message will be sent over
 230  * @param msg The MAVLink message to compress the data into
 231  * @param hil_state C-struct to read the message contents from
 232  */
 233 static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 234 {
 235         return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 236 }
 237
 238 /**
 239  * @brief Send a hil_state message
 240  * @param chan MAVLink channel to send the message
 241  *
 242  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 243  * @param roll Roll angle (rad)
 244  * @param pitch Pitch angle (rad)
 245  * @param yaw Yaw angle (rad)
 246  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 247  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 248  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 249  * @param lat Latitude, expressed as * 1E7
 250  * @param lon Longitude, expressed as * 1E7
 251  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 252  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 253  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 254  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 255  * @param xacc X acceleration (mg)
 256  * @param yacc Y acceleration (mg)
 257  * @param zacc Z acceleration (mg)
 258  */
 259 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 260
 261 static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 262 {
 263 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 264         char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 265         _mav_put_uint64_t(buf, 0, time_usec);
 266         _mav_put_float(buf, 8, roll);
 267         _mav_put_float(buf, 12, pitch);
 268         _mav_put_float(buf, 16, yaw);
 269         _mav_put_float(buf, 20, rollspeed);
 270         _mav_put_float(buf, 24, pitchspeed);
 271         _mav_put_float(buf, 28, yawspeed);
 272         _mav_put_int32_t(buf, 32, lat);
 273         _mav_put_int32_t(buf, 36, lon);
 274         _mav_put_int32_t(buf, 40, alt);
 275         _mav_put_int16_t(buf, 44, vx);
 276         _mav_put_int16_t(buf, 46, vy);
 277         _mav_put_int16_t(buf, 48, vz);
 278         _mav_put_int16_t(buf, 50, xacc);
 279         _mav_put_int16_t(buf, 52, yacc);
 280         _mav_put_int16_t(buf, 54, zacc);
 281
 282 #if MAVLINK_CRC_EXTRA
 283     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 284 #else
 285     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 286 #endif
 287 #else
 288         mavlink_hil_state_t packet;
 289         packet.time_usec = time_usec;
 290         packet.roll = roll;
 291         packet.pitch = pitch;
 292         packet.yaw = yaw;
 293         packet.rollspeed = rollspeed;
 294         packet.pitchspeed = pitchspeed;
 295         packet.yawspeed = yawspeed;
 296         packet.lat = lat;
 297         packet.lon = lon;
 298         packet.alt = alt;
 299         packet.vx = vx;
 300         packet.vy = vy;
 301         packet.vz = vz;
 302         packet.xacc = xacc;
 303         packet.yacc = yacc;
 304         packet.zacc = zacc;
 305
 306 #if MAVLINK_CRC_EXTRA
 307     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 308 #else
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 310 #endif
 311 #endif
 312 }
 313
 314 #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 315 /*
 316   This varient of _send() can be used to save stack space by re-using
 317   memory from the receive buffer.  The caller provides a
 318   mavlink_message_t which is the size of a full mavlink message. This
 319   is usually the receive buffer for the channel, and allows a reply to an
 320   incoming message with minimum stack space usage.
 321  */
 322 static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 323 {
 324 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 325         char *buf = (char *)msgbuf;
 326         _mav_put_uint64_t(buf, 0, time_usec);
 327         _mav_put_float(buf, 8, roll);
 328         _mav_put_float(buf, 12, pitch);
 329         _mav_put_float(buf, 16, yaw);
 330         _mav_put_float(buf, 20, rollspeed);
 331         _mav_put_float(buf, 24, pitchspeed);
 332         _mav_put_float(buf, 28, yawspeed);
 333         _mav_put_int32_t(buf, 32, lat);
 334         _mav_put_int32_t(buf, 36, lon);
 335         _mav_put_int32_t(buf, 40, alt);
 336         _mav_put_int16_t(buf, 44, vx);
 337         _mav_put_int16_t(buf, 46, vy);
 338         _mav_put_int16_t(buf, 48, vz);
 339         _mav_put_int16_t(buf, 50, xacc);
 340         _mav_put_int16_t(buf, 52, yacc);
 341         _mav_put_int16_t(buf, 54, zacc);
 342
 343 #if MAVLINK_CRC_EXTRA
 344     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 345 #else
 346     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 347 #endif
 348 #else
 349         mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
 350         packet->time_usec = time_usec;
 351         packet->roll = roll;
 352         packet->pitch = pitch;
 353         packet->yaw = yaw;
 354         packet->rollspeed = rollspeed;
 355         packet->pitchspeed = pitchspeed;
 356         packet->yawspeed = yawspeed;
 357         packet->lat = lat;
 358         packet->lon = lon;
 359         packet->alt = alt;
 360         packet->vx = vx;
 361         packet->vy = vy;
 362         packet->vz = vz;
 363         packet->xacc = xacc;
 364         packet->yacc = yacc;
 365         packet->zacc = zacc;
 366
 367 #if MAVLINK_CRC_EXTRA
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 369 #else
 370     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 371 #endif
 372 #endif
 373 }
 374 #endif
 375
 376 #endif
 377
 378 // MESSAGE HIL_STATE UNPACKING
 379
 380
 381 /**
 382  * @brief Get field time_usec from hil_state message
 383  *
 384  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 385  */
 386 static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
 387 {
 388         return _MAV_RETURN_uint64_t(msg,  0);
 389 }
 390
 391 /**
 392  * @brief Get field roll from hil_state message
 393  *
 394  * @return Roll angle (rad)
 395  */
 396 static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
 397 {
 398         return _MAV_RETURN_float(msg,  8);
 399 }
 400
 401 /**
 402  * @brief Get field pitch from hil_state message
 403  *
 404  * @return Pitch angle (rad)
 405  */
 406 static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
 407 {
 408         return _MAV_RETURN_float(msg,  12);
 409 }
 410
 411 /**
 412  * @brief Get field yaw from hil_state message
 413  *
 414  * @return Yaw angle (rad)
 415  */
 416 static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
 417 {
 418         return _MAV_RETURN_float(msg,  16);
 419 }
 420
 421 /**
 422  * @brief Get field rollspeed from hil_state message
 423  *
 424  * @return Body frame roll / phi angular speed (rad/s)
 425  */
 426 static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
 427 {
 428         return _MAV_RETURN_float(msg,  20);
 429 }
 430
 431 /**
 432  * @brief Get field pitchspeed from hil_state message
 433  *
 434  * @return Body frame pitch / theta angular speed (rad/s)
 435  */
 436 static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
 437 {
 438         return _MAV_RETURN_float(msg,  24);
 439 }
 440
 441 /**
 442  * @brief Get field yawspeed from hil_state message
 443  *
 444  * @return Body frame yaw / psi angular speed (rad/s)
 445  */
 446 static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
 447 {
 448         return _MAV_RETURN_float(msg,  28);
 449 }
 450
 451 /**
 452  * @brief Get field lat from hil_state message
 453  *
 454  * @return Latitude, expressed as * 1E7
 455  */
 456 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
 457 {
 458         return _MAV_RETURN_int32_t(msg,  32);
 459 }
 460
 461 /**
 462  * @brief Get field lon from hil_state message
 463  *
 464  * @return Longitude, expressed as * 1E7
 465  */
 466 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
 467 {
 468         return _MAV_RETURN_int32_t(msg,  36);
 469 }
 470
 471 /**
 472  * @brief Get field alt from hil_state message
 473  *
 474  * @return Altitude in meters, expressed as * 1000 (millimeters)
 475  */
 476 static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
 477 {
 478         return _MAV_RETURN_int32_t(msg,  40);
 479 }
 480
 481 /**
 482  * @brief Get field vx from hil_state message
 483  *
 484  * @return Ground X Speed (Latitude), expressed as m/s * 100
 485  */
 486 static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
 487 {
 488         return _MAV_RETURN_int16_t(msg,  44);
 489 }
 490
 491 /**
 492  * @brief Get field vy from hil_state message
 493  *
 494  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 495  */
 496 static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
 497 {
 498         return _MAV_RETURN_int16_t(msg,  46);
 499 }
 500
 501 /**
 502  * @brief Get field vz from hil_state message
 503  *
 504  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 505  */
 506 static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
 507 {
 508         return _MAV_RETURN_int16_t(msg,  48);
 509 }
 510
 511 /**
 512  * @brief Get field xacc from hil_state message
 513  *
 514  * @return X acceleration (mg)
 515  */
 516 static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
 517 {
 518         return _MAV_RETURN_int16_t(msg,  50);
 519 }
 520
 521 /**
 522  * @brief Get field yacc from hil_state message
 523  *
 524  * @return Y acceleration (mg)
 525  */
 526 static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
 527 {
 528         return _MAV_RETURN_int16_t(msg,  52);
 529 }
 530
 531 /**
 532  * @brief Get field zacc from hil_state message
 533  *
 534  * @return Z acceleration (mg)
 535  */
 536 static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
 537 {
 538         return _MAV_RETURN_int16_t(msg,  54);
 539 }
 540
 541 /**
 542  * @brief Decode a hil_state message into a struct
 543  *
 544  * @param msg The message to decode
 545  * @param hil_state C-struct to decode the message contents into
 546  */
 547 static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
 548 {
 549 #if MAVLINK_NEED_BYTE_SWAP
 550         hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
 551         hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
 552         hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
 553         hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
 554         hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
 555         hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
 556         hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
 557         hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
 558         hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
 559         hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
 560         hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
 561         hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
 562         hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
 563         hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
 564         hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
 565         hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
 566 #else
 567         memcpy(hil_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_LEN);
 568 #endif
 569 }