lib/main/MAVLink/common/mavlink_msg_hil_controls.h

   1 // MESSAGE HIL_CONTROLS PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_CONTROLS 91
   4
   5 typedef struct __mavlink_hil_controls_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   8  float roll_ailerons; ///< Control output -1 .. 1
   9  float pitch_elevator; ///< Control output -1 .. 1
  10  float yaw_rudder; ///< Control output -1 .. 1
  11  float throttle; ///< Throttle 0 .. 1
  12  float aux1; ///< Aux 1, -1 .. 1
  13  float aux2; ///< Aux 2, -1 .. 1
  14  float aux3; ///< Aux 3, -1 .. 1
  15  float aux4; ///< Aux 4, -1 .. 1
  16  uint8_t mode; ///< System mode (MAV_MODE)
  17  uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
  18 } mavlink_hil_controls_t;
  19
  20 #define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42
  21 #define MAVLINK_MSG_ID_91_LEN 42
  22
  23 #define MAVLINK_MSG_ID_HIL_CONTROLS_CRC 63
  24 #define MAVLINK_MSG_ID_91_CRC 63
  25
  26
  27
  28 #define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
  29         "HIL_CONTROLS", \
  30         11, \
  31         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \
  32          { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
  33          { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
  34          { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
  35          { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
  36          { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
  37          { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
  38          { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
  39          { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
  40          { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
  41          { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \
  42          } \
  43 }
  44
  45
  46 /**
  47  * @brief Pack a hil_controls message
  48  * @param system_id ID of this system
  49  * @param component_id ID of this component (e.g. 200 for IMU)
  50  * @param msg The MAVLink message to compress the data into
  51  *
  52  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  53  * @param roll_ailerons Control output -1 .. 1
  54  * @param pitch_elevator Control output -1 .. 1
  55  * @param yaw_rudder Control output -1 .. 1
  56  * @param throttle Throttle 0 .. 1
  57  * @param aux1 Aux 1, -1 .. 1
  58  * @param aux2 Aux 2, -1 .. 1
  59  * @param aux3 Aux 3, -1 .. 1
  60  * @param aux4 Aux 4, -1 .. 1
  61  * @param mode System mode (MAV_MODE)
  62  * @param nav_mode Navigation mode (MAV_NAV_MODE)
  63  * @return length of the message in bytes (excluding serial stream start sign)
  64  */
  65 static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  66                                                        uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
  67 {
  68 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  69         char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
  70         _mav_put_uint64_t(buf, 0, time_usec);
  71         _mav_put_float(buf, 8, roll_ailerons);
  72         _mav_put_float(buf, 12, pitch_elevator);
  73         _mav_put_float(buf, 16, yaw_rudder);
  74         _mav_put_float(buf, 20, throttle);
  75         _mav_put_float(buf, 24, aux1);
  76         _mav_put_float(buf, 28, aux2);
  77         _mav_put_float(buf, 32, aux3);
  78         _mav_put_float(buf, 36, aux4);
  79         _mav_put_uint8_t(buf, 40, mode);
  80         _mav_put_uint8_t(buf, 41, nav_mode);
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
  83 #else
  84         mavlink_hil_controls_t packet;
  85         packet.time_usec = time_usec;
  86         packet.roll_ailerons = roll_ailerons;
  87         packet.pitch_elevator = pitch_elevator;
  88         packet.yaw_rudder = yaw_rudder;
  89         packet.throttle = throttle;
  90         packet.aux1 = aux1;
  91         packet.aux2 = aux2;
  92         packet.aux3 = aux3;
  93         packet.aux4 = aux4;
  94         packet.mode = mode;
  95         packet.nav_mode = nav_mode;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
  98 #endif
  99
 100         msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
 101 #if MAVLINK_CRC_EXTRA
 102     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 103 #else
 104     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 105 #endif
 106 }
 107
 108 /**
 109  * @brief Pack a hil_controls message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 115  * @param roll_ailerons Control output -1 .. 1
 116  * @param pitch_elevator Control output -1 .. 1
 117  * @param yaw_rudder Control output -1 .. 1
 118  * @param throttle Throttle 0 .. 1
 119  * @param aux1 Aux 1, -1 .. 1
 120  * @param aux2 Aux 2, -1 .. 1
 121  * @param aux3 Aux 3, -1 .. 1
 122  * @param aux4 Aux 4, -1 .. 1
 123  * @param mode System mode (MAV_MODE)
 124  * @param nav_mode Navigation mode (MAV_NAV_MODE)
 125  * @return length of the message in bytes (excluding serial stream start sign)
 126  */
 127 static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 128                                                            mavlink_message_t* msg,
 129                                                            uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode)
 130 {
 131 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 132         char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
 133         _mav_put_uint64_t(buf, 0, time_usec);
 134         _mav_put_float(buf, 8, roll_ailerons);
 135         _mav_put_float(buf, 12, pitch_elevator);
 136         _mav_put_float(buf, 16, yaw_rudder);
 137         _mav_put_float(buf, 20, throttle);
 138         _mav_put_float(buf, 24, aux1);
 139         _mav_put_float(buf, 28, aux2);
 140         _mav_put_float(buf, 32, aux3);
 141         _mav_put_float(buf, 36, aux4);
 142         _mav_put_uint8_t(buf, 40, mode);
 143         _mav_put_uint8_t(buf, 41, nav_mode);
 144
 145         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 146 #else
 147         mavlink_hil_controls_t packet;
 148         packet.time_usec = time_usec;
 149         packet.roll_ailerons = roll_ailerons;
 150         packet.pitch_elevator = pitch_elevator;
 151         packet.yaw_rudder = yaw_rudder;
 152         packet.throttle = throttle;
 153         packet.aux1 = aux1;
 154         packet.aux2 = aux2;
 155         packet.aux3 = aux3;
 156         packet.aux4 = aux4;
 157         packet.mode = mode;
 158         packet.nav_mode = nav_mode;
 159
 160         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 161 #endif
 162
 163         msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
 164 #if MAVLINK_CRC_EXTRA
 165     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 166 #else
 167     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 168 #endif
 169 }
 170
 171 /**
 172  * @brief Encode a hil_controls struct
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param msg The MAVLink message to compress the data into
 177  * @param hil_controls C-struct to read the message contents from
 178  */
 179 static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
 180 {
 181         return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
 182 }
 183
 184 /**
 185  * @brief Encode a hil_controls struct on a channel
 186  *
 187  * @param system_id ID of this system
 188  * @param component_id ID of this component (e.g. 200 for IMU)
 189  * @param chan The MAVLink channel this message will be sent over
 190  * @param msg The MAVLink message to compress the data into
 191  * @param hil_controls C-struct to read the message contents from
 192  */
 193 static inline uint16_t mavlink_msg_hil_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
 194 {
 195         return mavlink_msg_hil_controls_pack_chan(system_id, component_id, chan, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
 196 }
 197
 198 /**
 199  * @brief Send a hil_controls message
 200  * @param chan MAVLink channel to send the message
 201  *
 202  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 203  * @param roll_ailerons Control output -1 .. 1
 204  * @param pitch_elevator Control output -1 .. 1
 205  * @param yaw_rudder Control output -1 .. 1
 206  * @param throttle Throttle 0 .. 1
 207  * @param aux1 Aux 1, -1 .. 1
 208  * @param aux2 Aux 2, -1 .. 1
 209  * @param aux3 Aux 3, -1 .. 1
 210  * @param aux4 Aux 4, -1 .. 1
 211  * @param mode System mode (MAV_MODE)
 212  * @param nav_mode Navigation mode (MAV_NAV_MODE)
 213  */
 214 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 215
 216 static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
 217 {
 218 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 219         char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
 220         _mav_put_uint64_t(buf, 0, time_usec);
 221         _mav_put_float(buf, 8, roll_ailerons);
 222         _mav_put_float(buf, 12, pitch_elevator);
 223         _mav_put_float(buf, 16, yaw_rudder);
 224         _mav_put_float(buf, 20, throttle);
 225         _mav_put_float(buf, 24, aux1);
 226         _mav_put_float(buf, 28, aux2);
 227         _mav_put_float(buf, 32, aux3);
 228         _mav_put_float(buf, 36, aux4);
 229         _mav_put_uint8_t(buf, 40, mode);
 230         _mav_put_uint8_t(buf, 41, nav_mode);
 231
 232 #if MAVLINK_CRC_EXTRA
 233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 234 #else
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 236 #endif
 237 #else
 238         mavlink_hil_controls_t packet;
 239         packet.time_usec = time_usec;
 240         packet.roll_ailerons = roll_ailerons;
 241         packet.pitch_elevator = pitch_elevator;
 242         packet.yaw_rudder = yaw_rudder;
 243         packet.throttle = throttle;
 244         packet.aux1 = aux1;
 245         packet.aux2 = aux2;
 246         packet.aux3 = aux3;
 247         packet.aux4 = aux4;
 248         packet.mode = mode;
 249         packet.nav_mode = nav_mode;
 250
 251 #if MAVLINK_CRC_EXTRA
 252     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 253 #else
 254     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 255 #endif
 256 #endif
 257 }
 258
 259 #if MAVLINK_MSG_ID_HIL_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 260 /*
 261   This varient of _send() can be used to save stack space by re-using
 262   memory from the receive buffer.  The caller provides a
 263   mavlink_message_t which is the size of a full mavlink message. This
 264   is usually the receive buffer for the channel, and allows a reply to an
 265   incoming message with minimum stack space usage.
 266  */
 267 static inline void mavlink_msg_hil_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
 268 {
 269 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 270         char *buf = (char *)msgbuf;
 271         _mav_put_uint64_t(buf, 0, time_usec);
 272         _mav_put_float(buf, 8, roll_ailerons);
 273         _mav_put_float(buf, 12, pitch_elevator);
 274         _mav_put_float(buf, 16, yaw_rudder);
 275         _mav_put_float(buf, 20, throttle);
 276         _mav_put_float(buf, 24, aux1);
 277         _mav_put_float(buf, 28, aux2);
 278         _mav_put_float(buf, 32, aux3);
 279         _mav_put_float(buf, 36, aux4);
 280         _mav_put_uint8_t(buf, 40, mode);
 281         _mav_put_uint8_t(buf, 41, nav_mode);
 282
 283 #if MAVLINK_CRC_EXTRA
 284     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 285 #else
 286     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 287 #endif
 288 #else
 289         mavlink_hil_controls_t *packet = (mavlink_hil_controls_t *)msgbuf;
 290         packet->time_usec = time_usec;
 291         packet->roll_ailerons = roll_ailerons;
 292         packet->pitch_elevator = pitch_elevator;
 293         packet->yaw_rudder = yaw_rudder;
 294         packet->throttle = throttle;
 295         packet->aux1 = aux1;
 296         packet->aux2 = aux2;
 297         packet->aux3 = aux3;
 298         packet->aux4 = aux4;
 299         packet->mode = mode;
 300         packet->nav_mode = nav_mode;
 301
 302 #if MAVLINK_CRC_EXTRA
 303     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
 304 #else
 305     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 306 #endif
 307 #endif
 308 }
 309 #endif
 310
 311 #endif
 312
 313 // MESSAGE HIL_CONTROLS UNPACKING
 314
 315
 316 /**
 317  * @brief Get field time_usec from hil_controls message
 318  *
 319  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 320  */
 321 static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg)
 322 {
 323         return _MAV_RETURN_uint64_t(msg,  0);
 324 }
 325
 326 /**
 327  * @brief Get field roll_ailerons from hil_controls message
 328  *
 329  * @return Control output -1 .. 1
 330  */
 331 static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
 332 {
 333         return _MAV_RETURN_float(msg,  8);
 334 }
 335
 336 /**
 337  * @brief Get field pitch_elevator from hil_controls message
 338  *
 339  * @return Control output -1 .. 1
 340  */
 341 static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
 342 {
 343         return _MAV_RETURN_float(msg,  12);
 344 }
 345
 346 /**
 347  * @brief Get field yaw_rudder from hil_controls message
 348  *
 349  * @return Control output -1 .. 1
 350  */
 351 static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
 352 {
 353         return _MAV_RETURN_float(msg,  16);
 354 }
 355
 356 /**
 357  * @brief Get field throttle from hil_controls message
 358  *
 359  * @return Throttle 0 .. 1
 360  */
 361 static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
 362 {
 363         return _MAV_RETURN_float(msg,  20);
 364 }
 365
 366 /**
 367  * @brief Get field aux1 from hil_controls message
 368  *
 369  * @return Aux 1, -1 .. 1
 370  */
 371 static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg)
 372 {
 373         return _MAV_RETURN_float(msg,  24);
 374 }
 375
 376 /**
 377  * @brief Get field aux2 from hil_controls message
 378  *
 379  * @return Aux 2, -1 .. 1
 380  */
 381 static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg)
 382 {
 383         return _MAV_RETURN_float(msg,  28);
 384 }
 385
 386 /**
 387  * @brief Get field aux3 from hil_controls message
 388  *
 389  * @return Aux 3, -1 .. 1
 390  */
 391 static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg)
 392 {
 393         return _MAV_RETURN_float(msg,  32);
 394 }
 395
 396 /**
 397  * @brief Get field aux4 from hil_controls message
 398  *
 399  * @return Aux 4, -1 .. 1
 400  */
 401 static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg)
 402 {
 403         return _MAV_RETURN_float(msg,  36);
 404 }
 405
 406 /**
 407  * @brief Get field mode from hil_controls message
 408  *
 409  * @return System mode (MAV_MODE)
 410  */
 411 static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
 412 {
 413         return _MAV_RETURN_uint8_t(msg,  40);
 414 }
 415
 416 /**
 417  * @brief Get field nav_mode from hil_controls message
 418  *
 419  * @return Navigation mode (MAV_NAV_MODE)
 420  */
 421 static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
 422 {
 423         return _MAV_RETURN_uint8_t(msg,  41);
 424 }
 425
 426 /**
 427  * @brief Decode a hil_controls message into a struct
 428  *
 429  * @param msg The message to decode
 430  * @param hil_controls C-struct to decode the message contents into
 431  */
 432 static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
 433 {
 434 #if MAVLINK_NEED_BYTE_SWAP
 435         hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg);
 436         hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
 437         hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
 438         hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
 439         hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
 440         hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg);
 441         hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg);
 442         hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg);
 443         hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg);
 444         hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
 445         hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
 446 #else
 447         memcpy(hil_controls, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
 448 #endif
 449 }