lib/main/MAVLink/common/mavlink_msg_control_system_state.h

   1 #pragma once
   2 // MESSAGE CONTROL_SYSTEM_STATE PACKING
   3
   4 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_control_system_state_t {
   8  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
   9  float x_acc; /*< X acceleration in body frame*/
  10  float y_acc; /*< Y acceleration in body frame*/
  11  float z_acc; /*< Z acceleration in body frame*/
  12  float x_vel; /*< X velocity in body frame*/
  13  float y_vel; /*< Y velocity in body frame*/
  14  float z_vel; /*< Z velocity in body frame*/
  15  float x_pos; /*< X position in local frame*/
  16  float y_pos; /*< Y position in local frame*/
  17  float z_pos; /*< Z position in local frame*/
  18  float airspeed; /*< Airspeed, set to -1 if unknown*/
  19  float vel_variance[3]; /*< Variance of body velocity estimate*/
  20  float pos_variance[3]; /*< Variance in local position*/
  21  float q[4]; /*< The attitude, represented as Quaternion*/
  22  float roll_rate; /*< Angular rate in roll axis*/
  23  float pitch_rate; /*< Angular rate in pitch axis*/
  24  float yaw_rate; /*< Angular rate in yaw axis*/
  25 }) mavlink_control_system_state_t;
  26
  27 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100
  28 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100
  29 #define MAVLINK_MSG_ID_146_LEN 100
  30 #define MAVLINK_MSG_ID_146_MIN_LEN 100
  31
  32 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103
  33 #define MAVLINK_MSG_ID_146_CRC 103
  34
  35 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3
  36 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3
  37 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4
  38
  39 #if MAVLINK_COMMAND_24BIT
  40 #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
  41     146, \
  42     "CONTROL_SYSTEM_STATE", \
  43     17, \
  44     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
  45          { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
  46          { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
  47          { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
  48          { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
  49          { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
  50          { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
  51          { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
  52          { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
  53          { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
  54          { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
  55          { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
  56          { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
  57          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
  58          { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
  59          { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
  60          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
  61          } \
  62 }
  63 #else
  64 #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
  65     "CONTROL_SYSTEM_STATE", \
  66     17, \
  67     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
  68          { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
  69          { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
  70          { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
  71          { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
  72          { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
  73          { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
  74          { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
  75          { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
  76          { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
  77          { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
  78          { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
  79          { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
  80          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
  81          { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
  82          { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
  83          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
  84          } \
  85 }
  86 #endif
  87
  88 /**
  89  * @brief Pack a control_system_state message
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param msg The MAVLink message to compress the data into
  93  *
  94  * @param time_usec Timestamp (micros since boot or Unix epoch)
  95  * @param x_acc X acceleration in body frame
  96  * @param y_acc Y acceleration in body frame
  97  * @param z_acc Z acceleration in body frame
  98  * @param x_vel X velocity in body frame
  99  * @param y_vel Y velocity in body frame
 100  * @param z_vel Z velocity in body frame
 101  * @param x_pos X position in local frame
 102  * @param y_pos Y position in local frame
 103  * @param z_pos Z position in local frame
 104  * @param airspeed Airspeed, set to -1 if unknown
 105  * @param vel_variance Variance of body velocity estimate
 106  * @param pos_variance Variance in local position
 107  * @param q The attitude, represented as Quaternion
 108  * @param roll_rate Angular rate in roll axis
 109  * @param pitch_rate Angular rate in pitch axis
 110  * @param yaw_rate Angular rate in yaw axis
 111  * @return length of the message in bytes (excluding serial stream start sign)
 112  */
 113 static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 114                                uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 115 {
 116 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 117     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 118     _mav_put_uint64_t(buf, 0, time_usec);
 119     _mav_put_float(buf, 8, x_acc);
 120     _mav_put_float(buf, 12, y_acc);
 121     _mav_put_float(buf, 16, z_acc);
 122     _mav_put_float(buf, 20, x_vel);
 123     _mav_put_float(buf, 24, y_vel);
 124     _mav_put_float(buf, 28, z_vel);
 125     _mav_put_float(buf, 32, x_pos);
 126     _mav_put_float(buf, 36, y_pos);
 127     _mav_put_float(buf, 40, z_pos);
 128     _mav_put_float(buf, 44, airspeed);
 129     _mav_put_float(buf, 88, roll_rate);
 130     _mav_put_float(buf, 92, pitch_rate);
 131     _mav_put_float(buf, 96, yaw_rate);
 132     _mav_put_float_array(buf, 48, vel_variance, 3);
 133     _mav_put_float_array(buf, 60, pos_variance, 3);
 134     _mav_put_float_array(buf, 72, q, 4);
 135         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 136 #else
 137     mavlink_control_system_state_t packet;
 138     packet.time_usec = time_usec;
 139     packet.x_acc = x_acc;
 140     packet.y_acc = y_acc;
 141     packet.z_acc = z_acc;
 142     packet.x_vel = x_vel;
 143     packet.y_vel = y_vel;
 144     packet.z_vel = z_vel;
 145     packet.x_pos = x_pos;
 146     packet.y_pos = y_pos;
 147     packet.z_pos = z_pos;
 148     packet.airspeed = airspeed;
 149     packet.roll_rate = roll_rate;
 150     packet.pitch_rate = pitch_rate;
 151     packet.yaw_rate = yaw_rate;
 152     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 153     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 154     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 155         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 156 #endif
 157
 158     msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
 159     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 160 }
 161
 162 /**
 163  * @brief Pack a control_system_state message on a channel
 164  * @param system_id ID of this system
 165  * @param component_id ID of this component (e.g. 200 for IMU)
 166  * @param chan The MAVLink channel this message will be sent over
 167  * @param msg The MAVLink message to compress the data into
 168  * @param time_usec Timestamp (micros since boot or Unix epoch)
 169  * @param x_acc X acceleration in body frame
 170  * @param y_acc Y acceleration in body frame
 171  * @param z_acc Z acceleration in body frame
 172  * @param x_vel X velocity in body frame
 173  * @param y_vel Y velocity in body frame
 174  * @param z_vel Z velocity in body frame
 175  * @param x_pos X position in local frame
 176  * @param y_pos Y position in local frame
 177  * @param z_pos Z position in local frame
 178  * @param airspeed Airspeed, set to -1 if unknown
 179  * @param vel_variance Variance of body velocity estimate
 180  * @param pos_variance Variance in local position
 181  * @param q The attitude, represented as Quaternion
 182  * @param roll_rate Angular rate in roll axis
 183  * @param pitch_rate Angular rate in pitch axis
 184  * @param yaw_rate Angular rate in yaw axis
 185  * @return length of the message in bytes (excluding serial stream start sign)
 186  */
 187 static inline uint16_t mavlink_msg_control_system_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 188                                mavlink_message_t* msg,
 189                                    uint64_t time_usec,float x_acc,float y_acc,float z_acc,float x_vel,float y_vel,float z_vel,float x_pos,float y_pos,float z_pos,float airspeed,const float *vel_variance,const float *pos_variance,const float *q,float roll_rate,float pitch_rate,float yaw_rate)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 193     _mav_put_uint64_t(buf, 0, time_usec);
 194     _mav_put_float(buf, 8, x_acc);
 195     _mav_put_float(buf, 12, y_acc);
 196     _mav_put_float(buf, 16, z_acc);
 197     _mav_put_float(buf, 20, x_vel);
 198     _mav_put_float(buf, 24, y_vel);
 199     _mav_put_float(buf, 28, z_vel);
 200     _mav_put_float(buf, 32, x_pos);
 201     _mav_put_float(buf, 36, y_pos);
 202     _mav_put_float(buf, 40, z_pos);
 203     _mav_put_float(buf, 44, airspeed);
 204     _mav_put_float(buf, 88, roll_rate);
 205     _mav_put_float(buf, 92, pitch_rate);
 206     _mav_put_float(buf, 96, yaw_rate);
 207     _mav_put_float_array(buf, 48, vel_variance, 3);
 208     _mav_put_float_array(buf, 60, pos_variance, 3);
 209     _mav_put_float_array(buf, 72, q, 4);
 210         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 211 #else
 212     mavlink_control_system_state_t packet;
 213     packet.time_usec = time_usec;
 214     packet.x_acc = x_acc;
 215     packet.y_acc = y_acc;
 216     packet.z_acc = z_acc;
 217     packet.x_vel = x_vel;
 218     packet.y_vel = y_vel;
 219     packet.z_vel = z_vel;
 220     packet.x_pos = x_pos;
 221     packet.y_pos = y_pos;
 222     packet.z_pos = z_pos;
 223     packet.airspeed = airspeed;
 224     packet.roll_rate = roll_rate;
 225     packet.pitch_rate = pitch_rate;
 226     packet.yaw_rate = yaw_rate;
 227     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 228     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 229     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 230         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 231 #endif
 232
 233     msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
 234     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 235 }
 236
 237 /**
 238  * @brief Encode a control_system_state struct
 239  *
 240  * @param system_id ID of this system
 241  * @param component_id ID of this component (e.g. 200 for IMU)
 242  * @param msg The MAVLink message to compress the data into
 243  * @param control_system_state C-struct to read the message contents from
 244  */
 245 static inline uint16_t mavlink_msg_control_system_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
 246 {
 247     return mavlink_msg_control_system_state_pack(system_id, component_id, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 248 }
 249
 250 /**
 251  * @brief Encode a control_system_state struct on a channel
 252  *
 253  * @param system_id ID of this system
 254  * @param component_id ID of this component (e.g. 200 for IMU)
 255  * @param chan The MAVLink channel this message will be sent over
 256  * @param msg The MAVLink message to compress the data into
 257  * @param control_system_state C-struct to read the message contents from
 258  */
 259 static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
 260 {
 261     return mavlink_msg_control_system_state_pack_chan(system_id, component_id, chan, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 262 }
 263
 264 /**
 265  * @brief Send a control_system_state message
 266  * @param chan MAVLink channel to send the message
 267  *
 268  * @param time_usec Timestamp (micros since boot or Unix epoch)
 269  * @param x_acc X acceleration in body frame
 270  * @param y_acc Y acceleration in body frame
 271  * @param z_acc Z acceleration in body frame
 272  * @param x_vel X velocity in body frame
 273  * @param y_vel Y velocity in body frame
 274  * @param z_vel Z velocity in body frame
 275  * @param x_pos X position in local frame
 276  * @param y_pos Y position in local frame
 277  * @param z_pos Z position in local frame
 278  * @param airspeed Airspeed, set to -1 if unknown
 279  * @param vel_variance Variance of body velocity estimate
 280  * @param pos_variance Variance in local position
 281  * @param q The attitude, represented as Quaternion
 282  * @param roll_rate Angular rate in roll axis
 283  * @param pitch_rate Angular rate in pitch axis
 284  * @param yaw_rate Angular rate in yaw axis
 285  */
 286 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 287
 288 static inline void mavlink_msg_control_system_state_send(mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 289 {
 290 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 291     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 292     _mav_put_uint64_t(buf, 0, time_usec);
 293     _mav_put_float(buf, 8, x_acc);
 294     _mav_put_float(buf, 12, y_acc);
 295     _mav_put_float(buf, 16, z_acc);
 296     _mav_put_float(buf, 20, x_vel);
 297     _mav_put_float(buf, 24, y_vel);
 298     _mav_put_float(buf, 28, z_vel);
 299     _mav_put_float(buf, 32, x_pos);
 300     _mav_put_float(buf, 36, y_pos);
 301     _mav_put_float(buf, 40, z_pos);
 302     _mav_put_float(buf, 44, airspeed);
 303     _mav_put_float(buf, 88, roll_rate);
 304     _mav_put_float(buf, 92, pitch_rate);
 305     _mav_put_float(buf, 96, yaw_rate);
 306     _mav_put_float_array(buf, 48, vel_variance, 3);
 307     _mav_put_float_array(buf, 60, pos_variance, 3);
 308     _mav_put_float_array(buf, 72, q, 4);
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 310 #else
 311     mavlink_control_system_state_t packet;
 312     packet.time_usec = time_usec;
 313     packet.x_acc = x_acc;
 314     packet.y_acc = y_acc;
 315     packet.z_acc = z_acc;
 316     packet.x_vel = x_vel;
 317     packet.y_vel = y_vel;
 318     packet.z_vel = z_vel;
 319     packet.x_pos = x_pos;
 320     packet.y_pos = y_pos;
 321     packet.z_pos = z_pos;
 322     packet.airspeed = airspeed;
 323     packet.roll_rate = roll_rate;
 324     packet.pitch_rate = pitch_rate;
 325     packet.yaw_rate = yaw_rate;
 326     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 327     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 328     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 330 #endif
 331 }
 332
 333 /**
 334  * @brief Send a control_system_state message
 335  * @param chan MAVLink channel to send the message
 336  * @param struct The MAVLink struct to serialize
 337  */
 338 static inline void mavlink_msg_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state)
 339 {
 340 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 341     mavlink_msg_control_system_state_send(chan, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 342 #else
 343     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)control_system_state, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 344 #endif
 345 }
 346
 347 #if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 348 /*
 349   This varient of _send() can be used to save stack space by re-using
 350   memory from the receive buffer.  The caller provides a
 351   mavlink_message_t which is the size of a full mavlink message. This
 352   is usually the receive buffer for the channel, and allows a reply to an
 353   incoming message with minimum stack space usage.
 354  */
 355 static inline void mavlink_msg_control_system_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 356 {
 357 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 358     char *buf = (char *)msgbuf;
 359     _mav_put_uint64_t(buf, 0, time_usec);
 360     _mav_put_float(buf, 8, x_acc);
 361     _mav_put_float(buf, 12, y_acc);
 362     _mav_put_float(buf, 16, z_acc);
 363     _mav_put_float(buf, 20, x_vel);
 364     _mav_put_float(buf, 24, y_vel);
 365     _mav_put_float(buf, 28, z_vel);
 366     _mav_put_float(buf, 32, x_pos);
 367     _mav_put_float(buf, 36, y_pos);
 368     _mav_put_float(buf, 40, z_pos);
 369     _mav_put_float(buf, 44, airspeed);
 370     _mav_put_float(buf, 88, roll_rate);
 371     _mav_put_float(buf, 92, pitch_rate);
 372     _mav_put_float(buf, 96, yaw_rate);
 373     _mav_put_float_array(buf, 48, vel_variance, 3);
 374     _mav_put_float_array(buf, 60, pos_variance, 3);
 375     _mav_put_float_array(buf, 72, q, 4);
 376     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 377 #else
 378     mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf;
 379     packet->time_usec = time_usec;
 380     packet->x_acc = x_acc;
 381     packet->y_acc = y_acc;
 382     packet->z_acc = z_acc;
 383     packet->x_vel = x_vel;
 384     packet->y_vel = y_vel;
 385     packet->z_vel = z_vel;
 386     packet->x_pos = x_pos;
 387     packet->y_pos = y_pos;
 388     packet->z_pos = z_pos;
 389     packet->airspeed = airspeed;
 390     packet->roll_rate = roll_rate;
 391     packet->pitch_rate = pitch_rate;
 392     packet->yaw_rate = yaw_rate;
 393     mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3);
 394     mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3);
 395     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 396     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 397 #endif
 398 }
 399 #endif
 400
 401 #endif
 402
 403 // MESSAGE CONTROL_SYSTEM_STATE UNPACKING
 404
 405
 406 /**
 407  * @brief Get field time_usec from control_system_state message
 408  *
 409  * @return Timestamp (micros since boot or Unix epoch)
 410  */
 411 static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg)
 412 {
 413     return _MAV_RETURN_uint64_t(msg,  0);
 414 }
 415
 416 /**
 417  * @brief Get field x_acc from control_system_state message
 418  *
 419  * @return X acceleration in body frame
 420  */
 421 static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg)
 422 {
 423     return _MAV_RETURN_float(msg,  8);
 424 }
 425
 426 /**
 427  * @brief Get field y_acc from control_system_state message
 428  *
 429  * @return Y acceleration in body frame
 430  */
 431 static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg)
 432 {
 433     return _MAV_RETURN_float(msg,  12);
 434 }
 435
 436 /**
 437  * @brief Get field z_acc from control_system_state message
 438  *
 439  * @return Z acceleration in body frame
 440  */
 441 static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg)
 442 {
 443     return _MAV_RETURN_float(msg,  16);
 444 }
 445
 446 /**
 447  * @brief Get field x_vel from control_system_state message
 448  *
 449  * @return X velocity in body frame
 450  */
 451 static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg)
 452 {
 453     return _MAV_RETURN_float(msg,  20);
 454 }
 455
 456 /**
 457  * @brief Get field y_vel from control_system_state message
 458  *
 459  * @return Y velocity in body frame
 460  */
 461 static inline float mavlink_msg_control_system_state_get_y_vel(const mavlink_message_t* msg)
 462 {
 463     return _MAV_RETURN_float(msg,  24);
 464 }
 465
 466 /**
 467  * @brief Get field z_vel from control_system_state message
 468  *
 469  * @return Z velocity in body frame
 470  */
 471 static inline float mavlink_msg_control_system_state_get_z_vel(const mavlink_message_t* msg)
 472 {
 473     return _MAV_RETURN_float(msg,  28);
 474 }
 475
 476 /**
 477  * @brief Get field x_pos from control_system_state message
 478  *
 479  * @return X position in local frame
 480  */
 481 static inline float mavlink_msg_control_system_state_get_x_pos(const mavlink_message_t* msg)
 482 {
 483     return _MAV_RETURN_float(msg,  32);
 484 }
 485
 486 /**
 487  * @brief Get field y_pos from control_system_state message
 488  *
 489  * @return Y position in local frame
 490  */
 491 static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg)
 492 {
 493     return _MAV_RETURN_float(msg,  36);
 494 }
 495
 496 /**
 497  * @brief Get field z_pos from control_system_state message
 498  *
 499  * @return Z position in local frame
 500  */
 501 static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg)
 502 {
 503     return _MAV_RETURN_float(msg,  40);
 504 }
 505
 506 /**
 507  * @brief Get field airspeed from control_system_state message
 508  *
 509  * @return Airspeed, set to -1 if unknown
 510  */
 511 static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg)
 512 {
 513     return _MAV_RETURN_float(msg,  44);
 514 }
 515
 516 /**
 517  * @brief Get field vel_variance from control_system_state message
 518  *
 519  * @return Variance of body velocity estimate
 520  */
 521 static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance)
 522 {
 523     return _MAV_RETURN_float_array(msg, vel_variance, 3,  48);
 524 }
 525
 526 /**
 527  * @brief Get field pos_variance from control_system_state message
 528  *
 529  * @return Variance in local position
 530  */
 531 static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance)
 532 {
 533     return _MAV_RETURN_float_array(msg, pos_variance, 3,  60);
 534 }
 535
 536 /**
 537  * @brief Get field q from control_system_state message
 538  *
 539  * @return The attitude, represented as Quaternion
 540  */
 541 static inline uint16_t mavlink_msg_control_system_state_get_q(const mavlink_message_t* msg, float *q)
 542 {
 543     return _MAV_RETURN_float_array(msg, q, 4,  72);
 544 }
 545
 546 /**
 547  * @brief Get field roll_rate from control_system_state message
 548  *
 549  * @return Angular rate in roll axis
 550  */
 551 static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg)
 552 {
 553     return _MAV_RETURN_float(msg,  88);
 554 }
 555
 556 /**
 557  * @brief Get field pitch_rate from control_system_state message
 558  *
 559  * @return Angular rate in pitch axis
 560  */
 561 static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg)
 562 {
 563     return _MAV_RETURN_float(msg,  92);
 564 }
 565
 566 /**
 567  * @brief Get field yaw_rate from control_system_state message
 568  *
 569  * @return Angular rate in yaw axis
 570  */
 571 static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg)
 572 {
 573     return _MAV_RETURN_float(msg,  96);
 574 }
 575
 576 /**
 577  * @brief Decode a control_system_state message into a struct
 578  *
 579  * @param msg The message to decode
 580  * @param control_system_state C-struct to decode the message contents into
 581  */
 582 static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state)
 583 {
 584 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 585     control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg);
 586     control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg);
 587     control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg);
 588     control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg);
 589     control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg);
 590     control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg);
 591     control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg);
 592     control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg);
 593     control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg);
 594     control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg);
 595     control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg);
 596     mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance);
 597     mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance);
 598     mavlink_msg_control_system_state_get_q(msg, control_system_state->q);
 599     control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg);
 600     control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg);
 601     control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg);
 602 #else
 603         uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN;
 604         memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 605     memcpy(control_system_state, _MAV_PAYLOAD(msg), len);
 606 #endif
 607 }