lib/main/MAVLink/common/mavlink_msg_hil_state.h

   1 #pragma once
   2 // MESSAGE HIL_STATE PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_STATE 90
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_hil_state_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
   9  float roll; /*< Roll angle (rad)*/
  10  float pitch; /*< Pitch angle (rad)*/
  11  float yaw; /*< Yaw angle (rad)*/
  12  float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
  13  float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
  14  float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
  15  int32_t lat; /*< Latitude, expressed as * 1E7*/
  16  int32_t lon; /*< Longitude, expressed as * 1E7*/
  17  int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/
  18  int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/
  19  int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/
  20  int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/
  21  int16_t xacc; /*< X acceleration (mg)*/
  22  int16_t yacc; /*< Y acceleration (mg)*/
  23  int16_t zacc; /*< Z acceleration (mg)*/
  24 }) mavlink_hil_state_t;
  25
  26 #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
  27 #define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56
  28 #define MAVLINK_MSG_ID_90_LEN 56
  29 #define MAVLINK_MSG_ID_90_MIN_LEN 56
  30
  31 #define MAVLINK_MSG_ID_HIL_STATE_CRC 183
  32 #define MAVLINK_MSG_ID_90_CRC 183
  33
  34
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
  38     90, \
  39     "HIL_STATE", \
  40     16, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  42          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  43          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  44          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  45          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  46          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  47          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  48          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  49          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  50          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  51          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  52          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  53          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  54          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  55          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  56          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
  61     "HIL_STATE", \
  62     16, \
  63     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  64          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  65          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  66          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  67          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  68          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  69          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  70          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  71          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  72          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  73          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  74          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  75          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  76          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  77          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  78          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a hil_state message
  85  * @param system_id ID of this system
  86  * @param component_id ID of this component (e.g. 200 for IMU)
  87  * @param msg The MAVLink message to compress the data into
  88  *
  89  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  90  * @param roll Roll angle (rad)
  91  * @param pitch Pitch angle (rad)
  92  * @param yaw Yaw angle (rad)
  93  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  94  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  95  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
  96  * @param lat Latitude, expressed as * 1E7
  97  * @param lon Longitude, expressed as * 1E7
  98  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  99  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 100  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 101  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 102  * @param xacc X acceleration (mg)
 103  * @param yacc Y acceleration (mg)
 104  * @param zacc Z acceleration (mg)
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 112     _mav_put_uint64_t(buf, 0, time_usec);
 113     _mav_put_float(buf, 8, roll);
 114     _mav_put_float(buf, 12, pitch);
 115     _mav_put_float(buf, 16, yaw);
 116     _mav_put_float(buf, 20, rollspeed);
 117     _mav_put_float(buf, 24, pitchspeed);
 118     _mav_put_float(buf, 28, yawspeed);
 119     _mav_put_int32_t(buf, 32, lat);
 120     _mav_put_int32_t(buf, 36, lon);
 121     _mav_put_int32_t(buf, 40, alt);
 122     _mav_put_int16_t(buf, 44, vx);
 123     _mav_put_int16_t(buf, 46, vy);
 124     _mav_put_int16_t(buf, 48, vz);
 125     _mav_put_int16_t(buf, 50, xacc);
 126     _mav_put_int16_t(buf, 52, yacc);
 127     _mav_put_int16_t(buf, 54, zacc);
 128
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 130 #else
 131     mavlink_hil_state_t packet;
 132     packet.time_usec = time_usec;
 133     packet.roll = roll;
 134     packet.pitch = pitch;
 135     packet.yaw = yaw;
 136     packet.rollspeed = rollspeed;
 137     packet.pitchspeed = pitchspeed;
 138     packet.yawspeed = yawspeed;
 139     packet.lat = lat;
 140     packet.lon = lon;
 141     packet.alt = alt;
 142     packet.vx = vx;
 143     packet.vy = vy;
 144     packet.vz = vz;
 145     packet.xacc = xacc;
 146     packet.yacc = yacc;
 147     packet.zacc = zacc;
 148
 149         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 150 #endif
 151
 152     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 153     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 154 }
 155
 156 /**
 157  * @brief Pack a hil_state message on a channel
 158  * @param system_id ID of this system
 159  * @param component_id ID of this component (e.g. 200 for IMU)
 160  * @param chan The MAVLink channel this message will be sent over
 161  * @param msg The MAVLink message to compress the data into
 162  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 163  * @param roll Roll angle (rad)
 164  * @param pitch Pitch angle (rad)
 165  * @param yaw Yaw angle (rad)
 166  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 167  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 168  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 169  * @param lat Latitude, expressed as * 1E7
 170  * @param lon Longitude, expressed as * 1E7
 171  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 172  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 173  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 174  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 175  * @param xacc X acceleration (mg)
 176  * @param yacc Y acceleration (mg)
 177  * @param zacc Z acceleration (mg)
 178  * @return length of the message in bytes (excluding serial stream start sign)
 179  */
 180 static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 181                                mavlink_message_t* msg,
 182                                    uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 186     _mav_put_uint64_t(buf, 0, time_usec);
 187     _mav_put_float(buf, 8, roll);
 188     _mav_put_float(buf, 12, pitch);
 189     _mav_put_float(buf, 16, yaw);
 190     _mav_put_float(buf, 20, rollspeed);
 191     _mav_put_float(buf, 24, pitchspeed);
 192     _mav_put_float(buf, 28, yawspeed);
 193     _mav_put_int32_t(buf, 32, lat);
 194     _mav_put_int32_t(buf, 36, lon);
 195     _mav_put_int32_t(buf, 40, alt);
 196     _mav_put_int16_t(buf, 44, vx);
 197     _mav_put_int16_t(buf, 46, vy);
 198     _mav_put_int16_t(buf, 48, vz);
 199     _mav_put_int16_t(buf, 50, xacc);
 200     _mav_put_int16_t(buf, 52, yacc);
 201     _mav_put_int16_t(buf, 54, zacc);
 202
 203         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 204 #else
 205     mavlink_hil_state_t packet;
 206     packet.time_usec = time_usec;
 207     packet.roll = roll;
 208     packet.pitch = pitch;
 209     packet.yaw = yaw;
 210     packet.rollspeed = rollspeed;
 211     packet.pitchspeed = pitchspeed;
 212     packet.yawspeed = yawspeed;
 213     packet.lat = lat;
 214     packet.lon = lon;
 215     packet.alt = alt;
 216     packet.vx = vx;
 217     packet.vy = vy;
 218     packet.vz = vz;
 219     packet.xacc = xacc;
 220     packet.yacc = yacc;
 221     packet.zacc = zacc;
 222
 223         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 224 #endif
 225
 226     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 227     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 228 }
 229
 230 /**
 231  * @brief Encode a hil_state struct
 232  *
 233  * @param system_id ID of this system
 234  * @param component_id ID of this component (e.g. 200 for IMU)
 235  * @param msg The MAVLink message to compress the data into
 236  * @param hil_state C-struct to read the message contents from
 237  */
 238 static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 239 {
 240     return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 241 }
 242
 243 /**
 244  * @brief Encode a hil_state struct on a channel
 245  *
 246  * @param system_id ID of this system
 247  * @param component_id ID of this component (e.g. 200 for IMU)
 248  * @param chan The MAVLink channel this message will be sent over
 249  * @param msg The MAVLink message to compress the data into
 250  * @param hil_state C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 253 {
 254     return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 255 }
 256
 257 /**
 258  * @brief Send a hil_state message
 259  * @param chan MAVLink channel to send the message
 260  *
 261  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 262  * @param roll Roll angle (rad)
 263  * @param pitch Pitch angle (rad)
 264  * @param yaw Yaw angle (rad)
 265  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 266  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 267  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 268  * @param lat Latitude, expressed as * 1E7
 269  * @param lon Longitude, expressed as * 1E7
 270  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 271  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 272  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 273  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 274  * @param xacc X acceleration (mg)
 275  * @param yacc Y acceleration (mg)
 276  * @param zacc Z acceleration (mg)
 277  */
 278 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 279
 280 static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 281 {
 282 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 283     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 284     _mav_put_uint64_t(buf, 0, time_usec);
 285     _mav_put_float(buf, 8, roll);
 286     _mav_put_float(buf, 12, pitch);
 287     _mav_put_float(buf, 16, yaw);
 288     _mav_put_float(buf, 20, rollspeed);
 289     _mav_put_float(buf, 24, pitchspeed);
 290     _mav_put_float(buf, 28, yawspeed);
 291     _mav_put_int32_t(buf, 32, lat);
 292     _mav_put_int32_t(buf, 36, lon);
 293     _mav_put_int32_t(buf, 40, alt);
 294     _mav_put_int16_t(buf, 44, vx);
 295     _mav_put_int16_t(buf, 46, vy);
 296     _mav_put_int16_t(buf, 48, vz);
 297     _mav_put_int16_t(buf, 50, xacc);
 298     _mav_put_int16_t(buf, 52, yacc);
 299     _mav_put_int16_t(buf, 54, zacc);
 300
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 302 #else
 303     mavlink_hil_state_t packet;
 304     packet.time_usec = time_usec;
 305     packet.roll = roll;
 306     packet.pitch = pitch;
 307     packet.yaw = yaw;
 308     packet.rollspeed = rollspeed;
 309     packet.pitchspeed = pitchspeed;
 310     packet.yawspeed = yawspeed;
 311     packet.lat = lat;
 312     packet.lon = lon;
 313     packet.alt = alt;
 314     packet.vx = vx;
 315     packet.vy = vy;
 316     packet.vz = vz;
 317     packet.xacc = xacc;
 318     packet.yacc = yacc;
 319     packet.zacc = zacc;
 320
 321     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 322 #endif
 323 }
 324
 325 /**
 326  * @brief Send a hil_state message
 327  * @param chan MAVLink channel to send the message
 328  * @param struct The MAVLink struct to serialize
 329  */
 330 static inline void mavlink_msg_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state)
 331 {
 332 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 333     mavlink_msg_hil_state_send(chan, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 334 #else
 335     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)hil_state, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 336 #endif
 337 }
 338
 339 #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 340 /*
 341   This varient of _send() can be used to save stack space by re-using
 342   memory from the receive buffer.  The caller provides a
 343   mavlink_message_t which is the size of a full mavlink message. This
 344   is usually the receive buffer for the channel, and allows a reply to an
 345   incoming message with minimum stack space usage.
 346  */
 347 static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 350     char *buf = (char *)msgbuf;
 351     _mav_put_uint64_t(buf, 0, time_usec);
 352     _mav_put_float(buf, 8, roll);
 353     _mav_put_float(buf, 12, pitch);
 354     _mav_put_float(buf, 16, yaw);
 355     _mav_put_float(buf, 20, rollspeed);
 356     _mav_put_float(buf, 24, pitchspeed);
 357     _mav_put_float(buf, 28, yawspeed);
 358     _mav_put_int32_t(buf, 32, lat);
 359     _mav_put_int32_t(buf, 36, lon);
 360     _mav_put_int32_t(buf, 40, alt);
 361     _mav_put_int16_t(buf, 44, vx);
 362     _mav_put_int16_t(buf, 46, vy);
 363     _mav_put_int16_t(buf, 48, vz);
 364     _mav_put_int16_t(buf, 50, xacc);
 365     _mav_put_int16_t(buf, 52, yacc);
 366     _mav_put_int16_t(buf, 54, zacc);
 367
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 369 #else
 370     mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
 371     packet->time_usec = time_usec;
 372     packet->roll = roll;
 373     packet->pitch = pitch;
 374     packet->yaw = yaw;
 375     packet->rollspeed = rollspeed;
 376     packet->pitchspeed = pitchspeed;
 377     packet->yawspeed = yawspeed;
 378     packet->lat = lat;
 379     packet->lon = lon;
 380     packet->alt = alt;
 381     packet->vx = vx;
 382     packet->vy = vy;
 383     packet->vz = vz;
 384     packet->xacc = xacc;
 385     packet->yacc = yacc;
 386     packet->zacc = zacc;
 387
 388     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 389 #endif
 390 }
 391 #endif
 392
 393 #endif
 394
 395 // MESSAGE HIL_STATE UNPACKING
 396
 397
 398 /**
 399  * @brief Get field time_usec from hil_state message
 400  *
 401  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 402  */
 403 static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_uint64_t(msg,  0);
 406 }
 407
 408 /**
 409  * @brief Get field roll from hil_state message
 410  *
 411  * @return Roll angle (rad)
 412  */
 413 static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_float(msg,  8);
 416 }
 417
 418 /**
 419  * @brief Get field pitch from hil_state message
 420  *
 421  * @return Pitch angle (rad)
 422  */
 423 static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_float(msg,  12);
 426 }
 427
 428 /**
 429  * @brief Get field yaw from hil_state message
 430  *
 431  * @return Yaw angle (rad)
 432  */
 433 static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_float(msg,  16);
 436 }
 437
 438 /**
 439  * @brief Get field rollspeed from hil_state message
 440  *
 441  * @return Body frame roll / phi angular speed (rad/s)
 442  */
 443 static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_float(msg,  20);
 446 }
 447
 448 /**
 449  * @brief Get field pitchspeed from hil_state message
 450  *
 451  * @return Body frame pitch / theta angular speed (rad/s)
 452  */
 453 static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_float(msg,  24);
 456 }
 457
 458 /**
 459  * @brief Get field yawspeed from hil_state message
 460  *
 461  * @return Body frame yaw / psi angular speed (rad/s)
 462  */
 463 static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_float(msg,  28);
 466 }
 467
 468 /**
 469  * @brief Get field lat from hil_state message
 470  *
 471  * @return Latitude, expressed as * 1E7
 472  */
 473 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_int32_t(msg,  32);
 476 }
 477
 478 /**
 479  * @brief Get field lon from hil_state message
 480  *
 481  * @return Longitude, expressed as * 1E7
 482  */
 483 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_int32_t(msg,  36);
 486 }
 487
 488 /**
 489  * @brief Get field alt from hil_state message
 490  *
 491  * @return Altitude in meters, expressed as * 1000 (millimeters)
 492  */
 493 static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_int32_t(msg,  40);
 496 }
 497
 498 /**
 499  * @brief Get field vx from hil_state message
 500  *
 501  * @return Ground X Speed (Latitude), expressed as m/s * 100
 502  */
 503 static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_int16_t(msg,  44);
 506 }
 507
 508 /**
 509  * @brief Get field vy from hil_state message
 510  *
 511  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 512  */
 513 static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_int16_t(msg,  46);
 516 }
 517
 518 /**
 519  * @brief Get field vz from hil_state message
 520  *
 521  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 522  */
 523 static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_int16_t(msg,  48);
 526 }
 527
 528 /**
 529  * @brief Get field xacc from hil_state message
 530  *
 531  * @return X acceleration (mg)
 532  */
 533 static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_int16_t(msg,  50);
 536 }
 537
 538 /**
 539  * @brief Get field yacc from hil_state message
 540  *
 541  * @return Y acceleration (mg)
 542  */
 543 static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_int16_t(msg,  52);
 546 }
 547
 548 /**
 549  * @brief Get field zacc from hil_state message
 550  *
 551  * @return Z acceleration (mg)
 552  */
 553 static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_int16_t(msg,  54);
 556 }
 557
 558 /**
 559  * @brief Decode a hil_state message into a struct
 560  *
 561  * @param msg The message to decode
 562  * @param hil_state C-struct to decode the message contents into
 563  */
 564 static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
 565 {
 566 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 567     hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
 568     hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
 569     hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
 570     hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
 571     hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
 572     hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
 573     hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
 574     hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
 575     hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
 576     hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
 577     hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
 578     hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
 579     hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
 580     hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
 581     hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
 582     hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
 583 #else
 584         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN;
 585         memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN);
 586     memcpy(hil_state, _MAV_PAYLOAD(msg), len);
 587 #endif
 588 }