lib/main/MAVLink/common/mavlink_msg_hil_state_quaternion.h

   1 // MESSAGE HIL_STATE_QUATERNION PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
   4
   5 typedef struct __mavlink_hil_state_quaternion_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   8  float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
   9  float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
  10  float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
  11  float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
  12  int32_t lat; ///< Latitude, expressed as * 1E7
  13  int32_t lon; ///< Longitude, expressed as * 1E7
  14  int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
  15  int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
  16  int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
  17  int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
  18  uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100
  19  uint16_t true_airspeed; ///< True airspeed, 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_quaternion_t;
  24
  25 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
  26 #define MAVLINK_MSG_ID_115_LEN 64
  27
  28 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
  29 #define MAVLINK_MSG_ID_115_CRC 4
  30
  31 #define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
  32
  33 #define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
  34         "HIL_STATE_QUATERNION", \
  35         16, \
  36         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
  37          { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
  38          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
  39          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
  40          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
  41          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
  42          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
  43          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
  44          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
  45          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
  46          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
  47          { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
  48          { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
  49          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
  50          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
  51          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
  52          } \
  53 }
  54
  55
  56 /**
  57  * @brief Pack a hil_state_quaternion 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 attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
  64  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  65  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  66  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
  67  * @param lat Latitude, expressed as * 1E7
  68  * @param lon Longitude, expressed as * 1E7
  69  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  70  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  71  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  72  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
  73  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
  74  * @param true_airspeed True airspeed, 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_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  81                                                        uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, 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_QUATERNION_LEN];
  85         _mav_put_uint64_t(buf, 0, time_usec);
  86         _mav_put_float(buf, 24, rollspeed);
  87         _mav_put_float(buf, 28, pitchspeed);
  88         _mav_put_float(buf, 32, yawspeed);
  89         _mav_put_int32_t(buf, 36, lat);
  90         _mav_put_int32_t(buf, 40, lon);
  91         _mav_put_int32_t(buf, 44, alt);
  92         _mav_put_int16_t(buf, 48, vx);
  93         _mav_put_int16_t(buf, 50, vy);
  94         _mav_put_int16_t(buf, 52, vz);
  95         _mav_put_uint16_t(buf, 54, ind_airspeed);
  96         _mav_put_uint16_t(buf, 56, true_airspeed);
  97         _mav_put_int16_t(buf, 58, xacc);
  98         _mav_put_int16_t(buf, 60, yacc);
  99         _mav_put_int16_t(buf, 62, zacc);
 100         _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 102 #else
 103         mavlink_hil_state_quaternion_t packet;
 104         packet.time_usec = time_usec;
 105         packet.rollspeed = rollspeed;
 106         packet.pitchspeed = pitchspeed;
 107         packet.yawspeed = yawspeed;
 108         packet.lat = lat;
 109         packet.lon = lon;
 110         packet.alt = alt;
 111         packet.vx = vx;
 112         packet.vy = vy;
 113         packet.vz = vz;
 114         packet.ind_airspeed = ind_airspeed;
 115         packet.true_airspeed = true_airspeed;
 116         packet.xacc = xacc;
 117         packet.yacc = yacc;
 118         packet.zacc = zacc;
 119         mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 121 #endif
 122
 123         msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 124 #if MAVLINK_CRC_EXTRA
 125     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 126 #else
 127     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 128 #endif
 129 }
 130
 131 /**
 132  * @brief Pack a hil_state_quaternion message on a channel
 133  * @param system_id ID of this system
 134  * @param component_id ID of this component (e.g. 200 for IMU)
 135  * @param chan The MAVLink channel this message will be sent over
 136  * @param msg The MAVLink message to compress the data into
 137  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 138  * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 139  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 140  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 141  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 142  * @param lat Latitude, expressed as * 1E7
 143  * @param lon Longitude, expressed as * 1E7
 144  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 145  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 146  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 147  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 148  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
 149  * @param true_airspeed True airspeed, expressed as m/s * 100
 150  * @param xacc X acceleration (mg)
 151  * @param yacc Y acceleration (mg)
 152  * @param zacc Z acceleration (mg)
 153  * @return length of the message in bytes (excluding serial stream start sign)
 154  */
 155 static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 156                                                            mavlink_message_t* msg,
 157                                                            uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
 158 {
 159 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 160         char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 161         _mav_put_uint64_t(buf, 0, time_usec);
 162         _mav_put_float(buf, 24, rollspeed);
 163         _mav_put_float(buf, 28, pitchspeed);
 164         _mav_put_float(buf, 32, yawspeed);
 165         _mav_put_int32_t(buf, 36, lat);
 166         _mav_put_int32_t(buf, 40, lon);
 167         _mav_put_int32_t(buf, 44, alt);
 168         _mav_put_int16_t(buf, 48, vx);
 169         _mav_put_int16_t(buf, 50, vy);
 170         _mav_put_int16_t(buf, 52, vz);
 171         _mav_put_uint16_t(buf, 54, ind_airspeed);
 172         _mav_put_uint16_t(buf, 56, true_airspeed);
 173         _mav_put_int16_t(buf, 58, xacc);
 174         _mav_put_int16_t(buf, 60, yacc);
 175         _mav_put_int16_t(buf, 62, zacc);
 176         _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 177         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 178 #else
 179         mavlink_hil_state_quaternion_t packet;
 180         packet.time_usec = time_usec;
 181         packet.rollspeed = rollspeed;
 182         packet.pitchspeed = pitchspeed;
 183         packet.yawspeed = yawspeed;
 184         packet.lat = lat;
 185         packet.lon = lon;
 186         packet.alt = alt;
 187         packet.vx = vx;
 188         packet.vy = vy;
 189         packet.vz = vz;
 190         packet.ind_airspeed = ind_airspeed;
 191         packet.true_airspeed = true_airspeed;
 192         packet.xacc = xacc;
 193         packet.yacc = yacc;
 194         packet.zacc = zacc;
 195         mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 196         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 197 #endif
 198
 199         msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 200 #if MAVLINK_CRC_EXTRA
 201     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 202 #else
 203     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 204 #endif
 205 }
 206
 207 /**
 208  * @brief Encode a hil_state_quaternion struct
 209  *
 210  * @param system_id ID of this system
 211  * @param component_id ID of this component (e.g. 200 for IMU)
 212  * @param msg The MAVLink message to compress the data into
 213  * @param hil_state_quaternion C-struct to read the message contents from
 214  */
 215 static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 216 {
 217         return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 218 }
 219
 220 /**
 221  * @brief Encode a hil_state_quaternion struct on a channel
 222  *
 223  * @param system_id ID of this system
 224  * @param component_id ID of this component (e.g. 200 for IMU)
 225  * @param chan The MAVLink channel this message will be sent over
 226  * @param msg The MAVLink message to compress the data into
 227  * @param hil_state_quaternion C-struct to read the message contents from
 228  */
 229 static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 230 {
 231         return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 232 }
 233
 234 /**
 235  * @brief Send a hil_state_quaternion message
 236  * @param chan MAVLink channel to send the message
 237  *
 238  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 239  * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 240  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 241  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 242  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 243  * @param lat Latitude, expressed as * 1E7
 244  * @param lon Longitude, expressed as * 1E7
 245  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 246  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 247  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 248  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 249  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
 250  * @param true_airspeed True airspeed, expressed as m/s * 100
 251  * @param xacc X acceleration (mg)
 252  * @param yacc Y acceleration (mg)
 253  * @param zacc Z acceleration (mg)
 254  */
 255 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 256
 257 static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 258 {
 259 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 260         char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 261         _mav_put_uint64_t(buf, 0, time_usec);
 262         _mav_put_float(buf, 24, rollspeed);
 263         _mav_put_float(buf, 28, pitchspeed);
 264         _mav_put_float(buf, 32, yawspeed);
 265         _mav_put_int32_t(buf, 36, lat);
 266         _mav_put_int32_t(buf, 40, lon);
 267         _mav_put_int32_t(buf, 44, alt);
 268         _mav_put_int16_t(buf, 48, vx);
 269         _mav_put_int16_t(buf, 50, vy);
 270         _mav_put_int16_t(buf, 52, vz);
 271         _mav_put_uint16_t(buf, 54, ind_airspeed);
 272         _mav_put_uint16_t(buf, 56, true_airspeed);
 273         _mav_put_int16_t(buf, 58, xacc);
 274         _mav_put_int16_t(buf, 60, yacc);
 275         _mav_put_int16_t(buf, 62, zacc);
 276         _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 277 #if MAVLINK_CRC_EXTRA
 278     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 279 #else
 280     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 281 #endif
 282 #else
 283         mavlink_hil_state_quaternion_t packet;
 284         packet.time_usec = time_usec;
 285         packet.rollspeed = rollspeed;
 286         packet.pitchspeed = pitchspeed;
 287         packet.yawspeed = yawspeed;
 288         packet.lat = lat;
 289         packet.lon = lon;
 290         packet.alt = alt;
 291         packet.vx = vx;
 292         packet.vy = vy;
 293         packet.vz = vz;
 294         packet.ind_airspeed = ind_airspeed;
 295         packet.true_airspeed = true_airspeed;
 296         packet.xacc = xacc;
 297         packet.yacc = yacc;
 298         packet.zacc = zacc;
 299         mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 300 #if MAVLINK_CRC_EXTRA
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 302 #else
 303     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 304 #endif
 305 #endif
 306 }
 307
 308 #if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 309 /*
 310   This varient of _send() can be used to save stack space by re-using
 311   memory from the receive buffer.  The caller provides a
 312   mavlink_message_t which is the size of a full mavlink message. This
 313   is usually the receive buffer for the channel, and allows a reply to an
 314   incoming message with minimum stack space usage.
 315  */
 316 static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 317 {
 318 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 319         char *buf = (char *)msgbuf;
 320         _mav_put_uint64_t(buf, 0, time_usec);
 321         _mav_put_float(buf, 24, rollspeed);
 322         _mav_put_float(buf, 28, pitchspeed);
 323         _mav_put_float(buf, 32, yawspeed);
 324         _mav_put_int32_t(buf, 36, lat);
 325         _mav_put_int32_t(buf, 40, lon);
 326         _mav_put_int32_t(buf, 44, alt);
 327         _mav_put_int16_t(buf, 48, vx);
 328         _mav_put_int16_t(buf, 50, vy);
 329         _mav_put_int16_t(buf, 52, vz);
 330         _mav_put_uint16_t(buf, 54, ind_airspeed);
 331         _mav_put_uint16_t(buf, 56, true_airspeed);
 332         _mav_put_int16_t(buf, 58, xacc);
 333         _mav_put_int16_t(buf, 60, yacc);
 334         _mav_put_int16_t(buf, 62, zacc);
 335         _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 336 #if MAVLINK_CRC_EXTRA
 337     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 338 #else
 339     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 340 #endif
 341 #else
 342         mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf;
 343         packet->time_usec = time_usec;
 344         packet->rollspeed = rollspeed;
 345         packet->pitchspeed = pitchspeed;
 346         packet->yawspeed = yawspeed;
 347         packet->lat = lat;
 348         packet->lon = lon;
 349         packet->alt = alt;
 350         packet->vx = vx;
 351         packet->vy = vy;
 352         packet->vz = vz;
 353         packet->ind_airspeed = ind_airspeed;
 354         packet->true_airspeed = true_airspeed;
 355         packet->xacc = xacc;
 356         packet->yacc = yacc;
 357         packet->zacc = zacc;
 358         mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 359 #if MAVLINK_CRC_EXTRA
 360     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 361 #else
 362     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 363 #endif
 364 #endif
 365 }
 366 #endif
 367
 368 #endif
 369
 370 // MESSAGE HIL_STATE_QUATERNION UNPACKING
 371
 372
 373 /**
 374  * @brief Get field time_usec from hil_state_quaternion message
 375  *
 376  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 377  */
 378 static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
 379 {
 380         return _MAV_RETURN_uint64_t(msg,  0);
 381 }
 382
 383 /**
 384  * @brief Get field attitude_quaternion from hil_state_quaternion message
 385  *
 386  * @return Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 387  */
 388 static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
 389 {
 390         return _MAV_RETURN_float_array(msg, attitude_quaternion, 4,  8);
 391 }
 392
 393 /**
 394  * @brief Get field rollspeed from hil_state_quaternion message
 395  *
 396  * @return Body frame roll / phi angular speed (rad/s)
 397  */
 398 static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
 399 {
 400         return _MAV_RETURN_float(msg,  24);
 401 }
 402
 403 /**
 404  * @brief Get field pitchspeed from hil_state_quaternion message
 405  *
 406  * @return Body frame pitch / theta angular speed (rad/s)
 407  */
 408 static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 409 {
 410         return _MAV_RETURN_float(msg,  28);
 411 }
 412
 413 /**
 414  * @brief Get field yawspeed from hil_state_quaternion message
 415  *
 416  * @return Body frame yaw / psi angular speed (rad/s)
 417  */
 418 static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
 419 {
 420         return _MAV_RETURN_float(msg,  32);
 421 }
 422
 423 /**
 424  * @brief Get field lat from hil_state_quaternion message
 425  *
 426  * @return Latitude, expressed as * 1E7
 427  */
 428 static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
 429 {
 430         return _MAV_RETURN_int32_t(msg,  36);
 431 }
 432
 433 /**
 434  * @brief Get field lon from hil_state_quaternion message
 435  *
 436  * @return Longitude, expressed as * 1E7
 437  */
 438 static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
 439 {
 440         return _MAV_RETURN_int32_t(msg,  40);
 441 }
 442
 443 /**
 444  * @brief Get field alt from hil_state_quaternion message
 445  *
 446  * @return Altitude in meters, expressed as * 1000 (millimeters)
 447  */
 448 static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
 449 {
 450         return _MAV_RETURN_int32_t(msg,  44);
 451 }
 452
 453 /**
 454  * @brief Get field vx from hil_state_quaternion message
 455  *
 456  * @return Ground X Speed (Latitude), expressed as m/s * 100
 457  */
 458 static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
 459 {
 460         return _MAV_RETURN_int16_t(msg,  48);
 461 }
 462
 463 /**
 464  * @brief Get field vy from hil_state_quaternion message
 465  *
 466  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 467  */
 468 static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
 469 {
 470         return _MAV_RETURN_int16_t(msg,  50);
 471 }
 472
 473 /**
 474  * @brief Get field vz from hil_state_quaternion message
 475  *
 476  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 477  */
 478 static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
 479 {
 480         return _MAV_RETURN_int16_t(msg,  52);
 481 }
 482
 483 /**
 484  * @brief Get field ind_airspeed from hil_state_quaternion message
 485  *
 486  * @return Indicated airspeed, expressed as m/s * 100
 487  */
 488 static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
 489 {
 490         return _MAV_RETURN_uint16_t(msg,  54);
 491 }
 492
 493 /**
 494  * @brief Get field true_airspeed from hil_state_quaternion message
 495  *
 496  * @return True airspeed, expressed as m/s * 100
 497  */
 498 static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
 499 {
 500         return _MAV_RETURN_uint16_t(msg,  56);
 501 }
 502
 503 /**
 504  * @brief Get field xacc from hil_state_quaternion message
 505  *
 506  * @return X acceleration (mg)
 507  */
 508 static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
 509 {
 510         return _MAV_RETURN_int16_t(msg,  58);
 511 }
 512
 513 /**
 514  * @brief Get field yacc from hil_state_quaternion message
 515  *
 516  * @return Y acceleration (mg)
 517  */
 518 static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
 519 {
 520         return _MAV_RETURN_int16_t(msg,  60);
 521 }
 522
 523 /**
 524  * @brief Get field zacc from hil_state_quaternion message
 525  *
 526  * @return Z acceleration (mg)
 527  */
 528 static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
 529 {
 530         return _MAV_RETURN_int16_t(msg,  62);
 531 }
 532
 533 /**
 534  * @brief Decode a hil_state_quaternion message into a struct
 535  *
 536  * @param msg The message to decode
 537  * @param hil_state_quaternion C-struct to decode the message contents into
 538  */
 539 static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
 540 {
 541 #if MAVLINK_NEED_BYTE_SWAP
 542         hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
 543         mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
 544         hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
 545         hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
 546         hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
 547         hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
 548         hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
 549         hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
 550         hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
 551         hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
 552         hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
 553         hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
 554         hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
 555         hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
 556         hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
 557         hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
 558 #else
 559         memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 560 #endif
 561 }