lib/main/MAVLink/common/mavlink_msg_set_position_target_local_ned.h

   1 // MESSAGE SET_POSITION_TARGET_LOCAL_NED PACKING
   2
   3 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED 84
   4
   5 typedef struct __mavlink_set_position_target_local_ned_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
   8  float x; ///< X Position in NED frame in meters
   9  float y; ///< Y Position in NED frame in meters
  10  float z; ///< Z Position in NED frame in meters (note, altitude is negative in NED)
  11  float vx; ///< X velocity in NED frame in meter / s
  12  float vy; ///< Y velocity in NED frame in meter / s
  13  float vz; ///< Z velocity in NED frame in meter / s
  14  float afx; ///< X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  15  float afy; ///< Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  16  float afz; ///< Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  17  float yaw; ///< yaw setpoint in rad
  18  float yaw_rate; ///< yaw rate setpoint in rad/s
  19  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
  20  uint8_t target_system; ///< System ID
  21  uint8_t target_component; ///< Component ID
  22  uint8_t coordinate_frame; ///< Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
  23 } mavlink_set_position_target_local_ned_t;
  24
  25 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN 53
  26 #define MAVLINK_MSG_ID_84_LEN 53
  27
  28 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC 143
  29 #define MAVLINK_MSG_ID_84_CRC 143
  30
  31
  32
  33 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_LOCAL_NED { \
  34         "SET_POSITION_TARGET_LOCAL_NED", \
  35         16, \
  36         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_local_ned_t, time_boot_ms) }, \
  37          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_position_target_local_ned_t, x) }, \
  38          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_position_target_local_ned_t, y) }, \
  39          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_local_ned_t, z) }, \
  40          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_local_ned_t, vx) }, \
  41          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_local_ned_t, vy) }, \
  42          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_local_ned_t, vz) }, \
  43          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_local_ned_t, afx) }, \
  44          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_local_ned_t, afy) }, \
  45          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_local_ned_t, afz) }, \
  46          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_local_ned_t, yaw) }, \
  47          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_local_ned_t, yaw_rate) }, \
  48          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_local_ned_t, type_mask) }, \
  49          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_local_ned_t, target_system) }, \
  50          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_local_ned_t, target_component) }, \
  51          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_local_ned_t, coordinate_frame) }, \
  52          } \
  53 }
  54
  55
  56 /**
  57  * @brief Pack a set_position_target_local_ned 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_boot_ms Timestamp in milliseconds since system boot
  63  * @param target_system System ID
  64  * @param target_component Component ID
  65  * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
  66  * @param 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
  67  * @param x X Position in NED frame in meters
  68  * @param y Y Position in NED frame in meters
  69  * @param z Z Position in NED frame in meters (note, altitude is negative in NED)
  70  * @param vx X velocity in NED frame in meter / s
  71  * @param vy Y velocity in NED frame in meter / s
  72  * @param vz Z velocity in NED frame in meter / s
  73  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  74  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  75  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  76  * @param yaw yaw setpoint in rad
  77  * @param yaw_rate yaw rate setpoint in rad/s
  78  * @return length of the message in bytes (excluding serial stream start sign)
  79  */
  80 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  81                                                        uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
  82 {
  83 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  84         char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
  85         _mav_put_uint32_t(buf, 0, time_boot_ms);
  86         _mav_put_float(buf, 4, x);
  87         _mav_put_float(buf, 8, y);
  88         _mav_put_float(buf, 12, z);
  89         _mav_put_float(buf, 16, vx);
  90         _mav_put_float(buf, 20, vy);
  91         _mav_put_float(buf, 24, vz);
  92         _mav_put_float(buf, 28, afx);
  93         _mav_put_float(buf, 32, afy);
  94         _mav_put_float(buf, 36, afz);
  95         _mav_put_float(buf, 40, yaw);
  96         _mav_put_float(buf, 44, yaw_rate);
  97         _mav_put_uint16_t(buf, 48, type_mask);
  98         _mav_put_uint8_t(buf, 50, target_system);
  99         _mav_put_uint8_t(buf, 51, target_component);
 100         _mav_put_uint8_t(buf, 52, coordinate_frame);
 101
 102         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 103 #else
 104         mavlink_set_position_target_local_ned_t packet;
 105         packet.time_boot_ms = time_boot_ms;
 106         packet.x = x;
 107         packet.y = y;
 108         packet.z = z;
 109         packet.vx = vx;
 110         packet.vy = vy;
 111         packet.vz = vz;
 112         packet.afx = afx;
 113         packet.afy = afy;
 114         packet.afz = afz;
 115         packet.yaw = yaw;
 116         packet.yaw_rate = yaw_rate;
 117         packet.type_mask = type_mask;
 118         packet.target_system = target_system;
 119         packet.target_component = target_component;
 120         packet.coordinate_frame = coordinate_frame;
 121
 122         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 123 #endif
 124
 125         msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED;
 126 #if MAVLINK_CRC_EXTRA
 127     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 128 #else
 129     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 130 #endif
 131 }
 132
 133 /**
 134  * @brief Pack a set_position_target_local_ned 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_boot_ms Timestamp in milliseconds since system boot
 140  * @param target_system System ID
 141  * @param target_component Component ID
 142  * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 143  * @param 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
 144  * @param x X Position in NED frame in meters
 145  * @param y Y Position in NED frame in meters
 146  * @param z Z Position in NED frame in meters (note, altitude is negative in NED)
 147  * @param vx X velocity in NED frame in meter / s
 148  * @param vy Y velocity in NED frame in meter / s
 149  * @param vz Z velocity in NED frame in meter / s
 150  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 151  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 152  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 153  * @param yaw yaw setpoint in rad
 154  * @param yaw_rate yaw rate setpoint in rad/s
 155  * @return length of the message in bytes (excluding serial stream start sign)
 156  */
 157 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 158                                                            mavlink_message_t* msg,
 159                                                            uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
 160 {
 161 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 162         char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
 163         _mav_put_uint32_t(buf, 0, time_boot_ms);
 164         _mav_put_float(buf, 4, x);
 165         _mav_put_float(buf, 8, y);
 166         _mav_put_float(buf, 12, z);
 167         _mav_put_float(buf, 16, vx);
 168         _mav_put_float(buf, 20, vy);
 169         _mav_put_float(buf, 24, vz);
 170         _mav_put_float(buf, 28, afx);
 171         _mav_put_float(buf, 32, afy);
 172         _mav_put_float(buf, 36, afz);
 173         _mav_put_float(buf, 40, yaw);
 174         _mav_put_float(buf, 44, yaw_rate);
 175         _mav_put_uint16_t(buf, 48, type_mask);
 176         _mav_put_uint8_t(buf, 50, target_system);
 177         _mav_put_uint8_t(buf, 51, target_component);
 178         _mav_put_uint8_t(buf, 52, coordinate_frame);
 179
 180         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 181 #else
 182         mavlink_set_position_target_local_ned_t packet;
 183         packet.time_boot_ms = time_boot_ms;
 184         packet.x = x;
 185         packet.y = y;
 186         packet.z = z;
 187         packet.vx = vx;
 188         packet.vy = vy;
 189         packet.vz = vz;
 190         packet.afx = afx;
 191         packet.afy = afy;
 192         packet.afz = afz;
 193         packet.yaw = yaw;
 194         packet.yaw_rate = yaw_rate;
 195         packet.type_mask = type_mask;
 196         packet.target_system = target_system;
 197         packet.target_component = target_component;
 198         packet.coordinate_frame = coordinate_frame;
 199
 200         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 201 #endif
 202
 203         msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED;
 204 #if MAVLINK_CRC_EXTRA
 205     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 206 #else
 207     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 208 #endif
 209 }
 210
 211 /**
 212  * @brief Encode a set_position_target_local_ned 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 set_position_target_local_ned C-struct to read the message contents from
 218  */
 219 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 220 {
 221         return mavlink_msg_set_position_target_local_ned_pack(system_id, component_id, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
 222 }
 223
 224 /**
 225  * @brief Encode a set_position_target_local_ned 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 set_position_target_local_ned C-struct to read the message contents from
 232  */
 233 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 234 {
 235         return mavlink_msg_set_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
 236 }
 237
 238 /**
 239  * @brief Send a set_position_target_local_ned message
 240  * @param chan MAVLink channel to send the message
 241  *
 242  * @param time_boot_ms Timestamp in milliseconds since system boot
 243  * @param target_system System ID
 244  * @param target_component Component ID
 245  * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 246  * @param 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
 247  * @param x X Position in NED frame in meters
 248  * @param y Y Position in NED frame in meters
 249  * @param z Z Position in NED frame in meters (note, altitude is negative in NED)
 250  * @param vx X velocity in NED frame in meter / s
 251  * @param vy Y velocity in NED frame in meter / s
 252  * @param vz Z velocity in NED frame in meter / s
 253  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 254  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 255  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 256  * @param yaw yaw setpoint in rad
 257  * @param yaw_rate yaw rate setpoint in rad/s
 258  */
 259 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 260
 261 static inline void mavlink_msg_set_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 262 {
 263 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 264         char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
 265         _mav_put_uint32_t(buf, 0, time_boot_ms);
 266         _mav_put_float(buf, 4, x);
 267         _mav_put_float(buf, 8, y);
 268         _mav_put_float(buf, 12, z);
 269         _mav_put_float(buf, 16, vx);
 270         _mav_put_float(buf, 20, vy);
 271         _mav_put_float(buf, 24, vz);
 272         _mav_put_float(buf, 28, afx);
 273         _mav_put_float(buf, 32, afy);
 274         _mav_put_float(buf, 36, afz);
 275         _mav_put_float(buf, 40, yaw);
 276         _mav_put_float(buf, 44, yaw_rate);
 277         _mav_put_uint16_t(buf, 48, type_mask);
 278         _mav_put_uint8_t(buf, 50, target_system);
 279         _mav_put_uint8_t(buf, 51, target_component);
 280         _mav_put_uint8_t(buf, 52, coordinate_frame);
 281
 282 #if MAVLINK_CRC_EXTRA
 283     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 284 #else
 285     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 286 #endif
 287 #else
 288         mavlink_set_position_target_local_ned_t packet;
 289         packet.time_boot_ms = time_boot_ms;
 290         packet.x = x;
 291         packet.y = y;
 292         packet.z = z;
 293         packet.vx = vx;
 294         packet.vy = vy;
 295         packet.vz = vz;
 296         packet.afx = afx;
 297         packet.afy = afy;
 298         packet.afz = afz;
 299         packet.yaw = yaw;
 300         packet.yaw_rate = yaw_rate;
 301         packet.type_mask = type_mask;
 302         packet.target_system = target_system;
 303         packet.target_component = target_component;
 304         packet.coordinate_frame = coordinate_frame;
 305
 306 #if MAVLINK_CRC_EXTRA
 307     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 308 #else
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 310 #endif
 311 #endif
 312 }
 313
 314 #if MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_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_set_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 323 {
 324 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 325         char *buf = (char *)msgbuf;
 326         _mav_put_uint32_t(buf, 0, time_boot_ms);
 327         _mav_put_float(buf, 4, x);
 328         _mav_put_float(buf, 8, y);
 329         _mav_put_float(buf, 12, z);
 330         _mav_put_float(buf, 16, vx);
 331         _mav_put_float(buf, 20, vy);
 332         _mav_put_float(buf, 24, vz);
 333         _mav_put_float(buf, 28, afx);
 334         _mav_put_float(buf, 32, afy);
 335         _mav_put_float(buf, 36, afz);
 336         _mav_put_float(buf, 40, yaw);
 337         _mav_put_float(buf, 44, yaw_rate);
 338         _mav_put_uint16_t(buf, 48, type_mask);
 339         _mav_put_uint8_t(buf, 50, target_system);
 340         _mav_put_uint8_t(buf, 51, target_component);
 341         _mav_put_uint8_t(buf, 52, coordinate_frame);
 342
 343 #if MAVLINK_CRC_EXTRA
 344     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 345 #else
 346     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 347 #endif
 348 #else
 349         mavlink_set_position_target_local_ned_t *packet = (mavlink_set_position_target_local_ned_t *)msgbuf;
 350         packet->time_boot_ms = time_boot_ms;
 351         packet->x = x;
 352         packet->y = y;
 353         packet->z = z;
 354         packet->vx = vx;
 355         packet->vy = vy;
 356         packet->vz = vz;
 357         packet->afx = afx;
 358         packet->afy = afy;
 359         packet->afz = afz;
 360         packet->yaw = yaw;
 361         packet->yaw_rate = yaw_rate;
 362         packet->type_mask = type_mask;
 363         packet->target_system = target_system;
 364         packet->target_component = target_component;
 365         packet->coordinate_frame = coordinate_frame;
 366
 367 #if MAVLINK_CRC_EXTRA
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 369 #else
 370     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 371 #endif
 372 #endif
 373 }
 374 #endif
 375
 376 #endif
 377
 378 // MESSAGE SET_POSITION_TARGET_LOCAL_NED UNPACKING
 379
 380
 381 /**
 382  * @brief Get field time_boot_ms from set_position_target_local_ned message
 383  *
 384  * @return Timestamp in milliseconds since system boot
 385  */
 386 static inline uint32_t mavlink_msg_set_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
 387 {
 388         return _MAV_RETURN_uint32_t(msg,  0);
 389 }
 390
 391 /**
 392  * @brief Get field target_system from set_position_target_local_ned message
 393  *
 394  * @return System ID
 395  */
 396 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_system(const mavlink_message_t* msg)
 397 {
 398         return _MAV_RETURN_uint8_t(msg,  50);
 399 }
 400
 401 /**
 402  * @brief Get field target_component from set_position_target_local_ned message
 403  *
 404  * @return Component ID
 405  */
 406 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_component(const mavlink_message_t* msg)
 407 {
 408         return _MAV_RETURN_uint8_t(msg,  51);
 409 }
 410
 411 /**
 412  * @brief Get field coordinate_frame from set_position_target_local_ned message
 413  *
 414  * @return Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 415  */
 416 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
 417 {
 418         return _MAV_RETURN_uint8_t(msg,  52);
 419 }
 420
 421 /**
 422  * @brief Get field type_mask from set_position_target_local_ned message
 423  *
 424  * @return 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
 425  */
 426 static inline uint16_t mavlink_msg_set_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
 427 {
 428         return _MAV_RETURN_uint16_t(msg,  48);
 429 }
 430
 431 /**
 432  * @brief Get field x from set_position_target_local_ned message
 433  *
 434  * @return X Position in NED frame in meters
 435  */
 436 static inline float mavlink_msg_set_position_target_local_ned_get_x(const mavlink_message_t* msg)
 437 {
 438         return _MAV_RETURN_float(msg,  4);
 439 }
 440
 441 /**
 442  * @brief Get field y from set_position_target_local_ned message
 443  *
 444  * @return Y Position in NED frame in meters
 445  */
 446 static inline float mavlink_msg_set_position_target_local_ned_get_y(const mavlink_message_t* msg)
 447 {
 448         return _MAV_RETURN_float(msg,  8);
 449 }
 450
 451 /**
 452  * @brief Get field z from set_position_target_local_ned message
 453  *
 454  * @return Z Position in NED frame in meters (note, altitude is negative in NED)
 455  */
 456 static inline float mavlink_msg_set_position_target_local_ned_get_z(const mavlink_message_t* msg)
 457 {
 458         return _MAV_RETURN_float(msg,  12);
 459 }
 460
 461 /**
 462  * @brief Get field vx from set_position_target_local_ned message
 463  *
 464  * @return X velocity in NED frame in meter / s
 465  */
 466 static inline float mavlink_msg_set_position_target_local_ned_get_vx(const mavlink_message_t* msg)
 467 {
 468         return _MAV_RETURN_float(msg,  16);
 469 }
 470
 471 /**
 472  * @brief Get field vy from set_position_target_local_ned message
 473  *
 474  * @return Y velocity in NED frame in meter / s
 475  */
 476 static inline float mavlink_msg_set_position_target_local_ned_get_vy(const mavlink_message_t* msg)
 477 {
 478         return _MAV_RETURN_float(msg,  20);
 479 }
 480
 481 /**
 482  * @brief Get field vz from set_position_target_local_ned message
 483  *
 484  * @return Z velocity in NED frame in meter / s
 485  */
 486 static inline float mavlink_msg_set_position_target_local_ned_get_vz(const mavlink_message_t* msg)
 487 {
 488         return _MAV_RETURN_float(msg,  24);
 489 }
 490
 491 /**
 492  * @brief Get field afx from set_position_target_local_ned message
 493  *
 494  * @return X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 495  */
 496 static inline float mavlink_msg_set_position_target_local_ned_get_afx(const mavlink_message_t* msg)
 497 {
 498         return _MAV_RETURN_float(msg,  28);
 499 }
 500
 501 /**
 502  * @brief Get field afy from set_position_target_local_ned message
 503  *
 504  * @return Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 505  */
 506 static inline float mavlink_msg_set_position_target_local_ned_get_afy(const mavlink_message_t* msg)
 507 {
 508         return _MAV_RETURN_float(msg,  32);
 509 }
 510
 511 /**
 512  * @brief Get field afz from set_position_target_local_ned message
 513  *
 514  * @return Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 515  */
 516 static inline float mavlink_msg_set_position_target_local_ned_get_afz(const mavlink_message_t* msg)
 517 {
 518         return _MAV_RETURN_float(msg,  36);
 519 }
 520
 521 /**
 522  * @brief Get field yaw from set_position_target_local_ned message
 523  *
 524  * @return yaw setpoint in rad
 525  */
 526 static inline float mavlink_msg_set_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
 527 {
 528         return _MAV_RETURN_float(msg,  40);
 529 }
 530
 531 /**
 532  * @brief Get field yaw_rate from set_position_target_local_ned message
 533  *
 534  * @return yaw rate setpoint in rad/s
 535  */
 536 static inline float mavlink_msg_set_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
 537 {
 538         return _MAV_RETURN_float(msg,  44);
 539 }
 540
 541 /**
 542  * @brief Decode a set_position_target_local_ned message into a struct
 543  *
 544  * @param msg The message to decode
 545  * @param set_position_target_local_ned C-struct to decode the message contents into
 546  */
 547 static inline void mavlink_msg_set_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 548 {
 549 #if MAVLINK_NEED_BYTE_SWAP
 550         set_position_target_local_ned->time_boot_ms = mavlink_msg_set_position_target_local_ned_get_time_boot_ms(msg);
 551         set_position_target_local_ned->x = mavlink_msg_set_position_target_local_ned_get_x(msg);
 552         set_position_target_local_ned->y = mavlink_msg_set_position_target_local_ned_get_y(msg);
 553         set_position_target_local_ned->z = mavlink_msg_set_position_target_local_ned_get_z(msg);
 554         set_position_target_local_ned->vx = mavlink_msg_set_position_target_local_ned_get_vx(msg);
 555         set_position_target_local_ned->vy = mavlink_msg_set_position_target_local_ned_get_vy(msg);
 556         set_position_target_local_ned->vz = mavlink_msg_set_position_target_local_ned_get_vz(msg);
 557         set_position_target_local_ned->afx = mavlink_msg_set_position_target_local_ned_get_afx(msg);
 558         set_position_target_local_ned->afy = mavlink_msg_set_position_target_local_ned_get_afy(msg);
 559         set_position_target_local_ned->afz = mavlink_msg_set_position_target_local_ned_get_afz(msg);
 560         set_position_target_local_ned->yaw = mavlink_msg_set_position_target_local_ned_get_yaw(msg);
 561         set_position_target_local_ned->yaw_rate = mavlink_msg_set_position_target_local_ned_get_yaw_rate(msg);
 562         set_position_target_local_ned->type_mask = mavlink_msg_set_position_target_local_ned_get_type_mask(msg);
 563         set_position_target_local_ned->target_system = mavlink_msg_set_position_target_local_ned_get_target_system(msg);
 564         set_position_target_local_ned->target_component = mavlink_msg_set_position_target_local_ned_get_target_component(msg);
 565         set_position_target_local_ned->coordinate_frame = mavlink_msg_set_position_target_local_ned_get_coordinate_frame(msg);
 566 #else
 567         memcpy(set_position_target_local_ned, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 568 #endif
 569 }