lib/main/MAVLink/common/mavlink_msg_hil_state_quaternion.h

   1 #pragma once
   2 // MESSAGE HIL_STATE_QUATERNION PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_hil_state_quaternion_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
   9  float attitude_quaternion[4]; /*< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)*/
  10  float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
  11  float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
  12  float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
  13  int32_t lat; /*< Latitude, expressed as * 1E7*/
  14  int32_t lon; /*< Longitude, expressed as * 1E7*/
  15  int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/
  16  int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/
  17  int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/
  18  int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/
  19  uint16_t ind_airspeed; /*< Indicated airspeed, expressed as m/s * 100*/
  20  uint16_t true_airspeed; /*< True airspeed, 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_quaternion_t;
  25
  26 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
  27 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN 64
  28 #define MAVLINK_MSG_ID_115_LEN 64
  29 #define MAVLINK_MSG_ID_115_MIN_LEN 64
  30
  31 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
  32 #define MAVLINK_MSG_ID_115_CRC 4
  33
  34 #define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
  38     115, \
  39     "HIL_STATE_QUATERNION", \
  40     16, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
  42          { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
  43          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
  44          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
  45          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
  46          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
  47          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
  48          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
  49          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
  50          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
  51          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
  52          { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
  53          { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
  54          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
  55          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
  56          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
  61     "HIL_STATE_QUATERNION", \
  62     16, \
  63     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
  64          { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
  65          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
  66          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
  67          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
  68          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
  69          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
  70          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
  71          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
  72          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
  73          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
  74          { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
  75          { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
  76          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
  77          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
  78          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a hil_state_quaternion 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 attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
  91  * @param rollspeed Body frame roll / phi angular speed (rad/s)
  92  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
  93  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
  94  * @param lat Latitude, expressed as * 1E7
  95  * @param lon Longitude, expressed as * 1E7
  96  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  97  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  98  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  99  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 100  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
 101  * @param true_airspeed True airspeed, 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_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 112     _mav_put_uint64_t(buf, 0, time_usec);
 113     _mav_put_float(buf, 24, rollspeed);
 114     _mav_put_float(buf, 28, pitchspeed);
 115     _mav_put_float(buf, 32, yawspeed);
 116     _mav_put_int32_t(buf, 36, lat);
 117     _mav_put_int32_t(buf, 40, lon);
 118     _mav_put_int32_t(buf, 44, alt);
 119     _mav_put_int16_t(buf, 48, vx);
 120     _mav_put_int16_t(buf, 50, vy);
 121     _mav_put_int16_t(buf, 52, vz);
 122     _mav_put_uint16_t(buf, 54, ind_airspeed);
 123     _mav_put_uint16_t(buf, 56, true_airspeed);
 124     _mav_put_int16_t(buf, 58, xacc);
 125     _mav_put_int16_t(buf, 60, yacc);
 126     _mav_put_int16_t(buf, 62, zacc);
 127     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 129 #else
 130     mavlink_hil_state_quaternion_t packet;
 131     packet.time_usec = time_usec;
 132     packet.rollspeed = rollspeed;
 133     packet.pitchspeed = pitchspeed;
 134     packet.yawspeed = yawspeed;
 135     packet.lat = lat;
 136     packet.lon = lon;
 137     packet.alt = alt;
 138     packet.vx = vx;
 139     packet.vy = vy;
 140     packet.vz = vz;
 141     packet.ind_airspeed = ind_airspeed;
 142     packet.true_airspeed = true_airspeed;
 143     packet.xacc = xacc;
 144     packet.yacc = yacc;
 145     packet.zacc = zacc;
 146     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 147         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 148 #endif
 149
 150     msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 151     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 152 }
 153
 154 /**
 155  * @brief Pack a hil_state_quaternion message on a channel
 156  * @param system_id ID of this system
 157  * @param component_id ID of this component (e.g. 200 for IMU)
 158  * @param chan The MAVLink channel this message will be sent over
 159  * @param msg The MAVLink message to compress the data into
 160  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 161  * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 162  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 163  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 164  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 165  * @param lat Latitude, expressed as * 1E7
 166  * @param lon Longitude, expressed as * 1E7
 167  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 168  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 169  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 170  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 171  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
 172  * @param true_airspeed True airspeed, expressed as m/s * 100
 173  * @param xacc X acceleration (mg)
 174  * @param yacc Y acceleration (mg)
 175  * @param zacc Z acceleration (mg)
 176  * @return length of the message in bytes (excluding serial stream start sign)
 177  */
 178 static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 179                                mavlink_message_t* msg,
 180                                    uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 184     _mav_put_uint64_t(buf, 0, time_usec);
 185     _mav_put_float(buf, 24, rollspeed);
 186     _mav_put_float(buf, 28, pitchspeed);
 187     _mav_put_float(buf, 32, yawspeed);
 188     _mav_put_int32_t(buf, 36, lat);
 189     _mav_put_int32_t(buf, 40, lon);
 190     _mav_put_int32_t(buf, 44, alt);
 191     _mav_put_int16_t(buf, 48, vx);
 192     _mav_put_int16_t(buf, 50, vy);
 193     _mav_put_int16_t(buf, 52, vz);
 194     _mav_put_uint16_t(buf, 54, ind_airspeed);
 195     _mav_put_uint16_t(buf, 56, true_airspeed);
 196     _mav_put_int16_t(buf, 58, xacc);
 197     _mav_put_int16_t(buf, 60, yacc);
 198     _mav_put_int16_t(buf, 62, zacc);
 199     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 200         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 201 #else
 202     mavlink_hil_state_quaternion_t packet;
 203     packet.time_usec = time_usec;
 204     packet.rollspeed = rollspeed;
 205     packet.pitchspeed = pitchspeed;
 206     packet.yawspeed = yawspeed;
 207     packet.lat = lat;
 208     packet.lon = lon;
 209     packet.alt = alt;
 210     packet.vx = vx;
 211     packet.vy = vy;
 212     packet.vz = vz;
 213     packet.ind_airspeed = ind_airspeed;
 214     packet.true_airspeed = true_airspeed;
 215     packet.xacc = xacc;
 216     packet.yacc = yacc;
 217     packet.zacc = zacc;
 218     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 219         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 220 #endif
 221
 222     msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 223     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 224 }
 225
 226 /**
 227  * @brief Encode a hil_state_quaternion struct
 228  *
 229  * @param system_id ID of this system
 230  * @param component_id ID of this component (e.g. 200 for IMU)
 231  * @param msg The MAVLink message to compress the data into
 232  * @param hil_state_quaternion C-struct to read the message contents from
 233  */
 234 static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 235 {
 236     return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 237 }
 238
 239 /**
 240  * @brief Encode a hil_state_quaternion struct on a channel
 241  *
 242  * @param system_id ID of this system
 243  * @param component_id ID of this component (e.g. 200 for IMU)
 244  * @param chan The MAVLink channel this message will be sent over
 245  * @param msg The MAVLink message to compress the data into
 246  * @param hil_state_quaternion C-struct to read the message contents from
 247  */
 248 static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 249 {
 250     return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 251 }
 252
 253 /**
 254  * @brief Send a hil_state_quaternion message
 255  * @param chan MAVLink channel to send the message
 256  *
 257  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 258  * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 259  * @param rollspeed Body frame roll / phi angular speed (rad/s)
 260  * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
 261  * @param yawspeed Body frame yaw / psi angular speed (rad/s)
 262  * @param lat Latitude, expressed as * 1E7
 263  * @param lon Longitude, expressed as * 1E7
 264  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 265  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 266  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 267  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 268  * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
 269  * @param true_airspeed True airspeed, expressed as m/s * 100
 270  * @param xacc X acceleration (mg)
 271  * @param yacc Y acceleration (mg)
 272  * @param zacc Z acceleration (mg)
 273  */
 274 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 275
 276 static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 277 {
 278 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 280     _mav_put_uint64_t(buf, 0, time_usec);
 281     _mav_put_float(buf, 24, rollspeed);
 282     _mav_put_float(buf, 28, pitchspeed);
 283     _mav_put_float(buf, 32, yawspeed);
 284     _mav_put_int32_t(buf, 36, lat);
 285     _mav_put_int32_t(buf, 40, lon);
 286     _mav_put_int32_t(buf, 44, alt);
 287     _mav_put_int16_t(buf, 48, vx);
 288     _mav_put_int16_t(buf, 50, vy);
 289     _mav_put_int16_t(buf, 52, vz);
 290     _mav_put_uint16_t(buf, 54, ind_airspeed);
 291     _mav_put_uint16_t(buf, 56, true_airspeed);
 292     _mav_put_int16_t(buf, 58, xacc);
 293     _mav_put_int16_t(buf, 60, yacc);
 294     _mav_put_int16_t(buf, 62, zacc);
 295     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 296     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 297 #else
 298     mavlink_hil_state_quaternion_t packet;
 299     packet.time_usec = time_usec;
 300     packet.rollspeed = rollspeed;
 301     packet.pitchspeed = pitchspeed;
 302     packet.yawspeed = yawspeed;
 303     packet.lat = lat;
 304     packet.lon = lon;
 305     packet.alt = alt;
 306     packet.vx = vx;
 307     packet.vy = vy;
 308     packet.vz = vz;
 309     packet.ind_airspeed = ind_airspeed;
 310     packet.true_airspeed = true_airspeed;
 311     packet.xacc = xacc;
 312     packet.yacc = yacc;
 313     packet.zacc = zacc;
 314     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 315     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 316 #endif
 317 }
 318
 319 /**
 320  * @brief Send a hil_state_quaternion message
 321  * @param chan MAVLink channel to send the message
 322  * @param struct The MAVLink struct to serialize
 323  */
 324 static inline void mavlink_msg_hil_state_quaternion_send_struct(mavlink_channel_t chan, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 325 {
 326 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 327     mavlink_msg_hil_state_quaternion_send(chan, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 328 #else
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)hil_state_quaternion, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 330 #endif
 331 }
 332
 333 #if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 334 /*
 335   This varient of _send() can be used to save stack space by re-using
 336   memory from the receive buffer.  The caller provides a
 337   mavlink_message_t which is the size of a full mavlink message. This
 338   is usually the receive buffer for the channel, and allows a reply to an
 339   incoming message with minimum stack space usage.
 340  */
 341 static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 342 {
 343 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 344     char *buf = (char *)msgbuf;
 345     _mav_put_uint64_t(buf, 0, time_usec);
 346     _mav_put_float(buf, 24, rollspeed);
 347     _mav_put_float(buf, 28, pitchspeed);
 348     _mav_put_float(buf, 32, yawspeed);
 349     _mav_put_int32_t(buf, 36, lat);
 350     _mav_put_int32_t(buf, 40, lon);
 351     _mav_put_int32_t(buf, 44, alt);
 352     _mav_put_int16_t(buf, 48, vx);
 353     _mav_put_int16_t(buf, 50, vy);
 354     _mav_put_int16_t(buf, 52, vz);
 355     _mav_put_uint16_t(buf, 54, ind_airspeed);
 356     _mav_put_uint16_t(buf, 56, true_airspeed);
 357     _mav_put_int16_t(buf, 58, xacc);
 358     _mav_put_int16_t(buf, 60, yacc);
 359     _mav_put_int16_t(buf, 62, zacc);
 360     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 361     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 362 #else
 363     mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf;
 364     packet->time_usec = time_usec;
 365     packet->rollspeed = rollspeed;
 366     packet->pitchspeed = pitchspeed;
 367     packet->yawspeed = yawspeed;
 368     packet->lat = lat;
 369     packet->lon = lon;
 370     packet->alt = alt;
 371     packet->vx = vx;
 372     packet->vy = vy;
 373     packet->vz = vz;
 374     packet->ind_airspeed = ind_airspeed;
 375     packet->true_airspeed = true_airspeed;
 376     packet->xacc = xacc;
 377     packet->yacc = yacc;
 378     packet->zacc = zacc;
 379     mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 380     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 381 #endif
 382 }
 383 #endif
 384
 385 #endif
 386
 387 // MESSAGE HIL_STATE_QUATERNION UNPACKING
 388
 389
 390 /**
 391  * @brief Get field time_usec from hil_state_quaternion message
 392  *
 393  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 394  */
 395 static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
 396 {
 397     return _MAV_RETURN_uint64_t(msg,  0);
 398 }
 399
 400 /**
 401  * @brief Get field attitude_quaternion from hil_state_quaternion message
 402  *
 403  * @return Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 404  */
 405 static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
 406 {
 407     return _MAV_RETURN_float_array(msg, attitude_quaternion, 4,  8);
 408 }
 409
 410 /**
 411  * @brief Get field rollspeed from hil_state_quaternion message
 412  *
 413  * @return Body frame roll / phi angular speed (rad/s)
 414  */
 415 static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
 416 {
 417     return _MAV_RETURN_float(msg,  24);
 418 }
 419
 420 /**
 421  * @brief Get field pitchspeed from hil_state_quaternion message
 422  *
 423  * @return Body frame pitch / theta angular speed (rad/s)
 424  */
 425 static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 426 {
 427     return _MAV_RETURN_float(msg,  28);
 428 }
 429
 430 /**
 431  * @brief Get field yawspeed from hil_state_quaternion message
 432  *
 433  * @return Body frame yaw / psi angular speed (rad/s)
 434  */
 435 static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
 436 {
 437     return _MAV_RETURN_float(msg,  32);
 438 }
 439
 440 /**
 441  * @brief Get field lat from hil_state_quaternion message
 442  *
 443  * @return Latitude, expressed as * 1E7
 444  */
 445 static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
 446 {
 447     return _MAV_RETURN_int32_t(msg,  36);
 448 }
 449
 450 /**
 451  * @brief Get field lon from hil_state_quaternion message
 452  *
 453  * @return Longitude, expressed as * 1E7
 454  */
 455 static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
 456 {
 457     return _MAV_RETURN_int32_t(msg,  40);
 458 }
 459
 460 /**
 461  * @brief Get field alt from hil_state_quaternion message
 462  *
 463  * @return Altitude in meters, expressed as * 1000 (millimeters)
 464  */
 465 static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
 466 {
 467     return _MAV_RETURN_int32_t(msg,  44);
 468 }
 469
 470 /**
 471  * @brief Get field vx from hil_state_quaternion message
 472  *
 473  * @return Ground X Speed (Latitude), expressed as m/s * 100
 474  */
 475 static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
 476 {
 477     return _MAV_RETURN_int16_t(msg,  48);
 478 }
 479
 480 /**
 481  * @brief Get field vy from hil_state_quaternion message
 482  *
 483  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 484  */
 485 static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
 486 {
 487     return _MAV_RETURN_int16_t(msg,  50);
 488 }
 489
 490 /**
 491  * @brief Get field vz from hil_state_quaternion message
 492  *
 493  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 494  */
 495 static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
 496 {
 497     return _MAV_RETURN_int16_t(msg,  52);
 498 }
 499
 500 /**
 501  * @brief Get field ind_airspeed from hil_state_quaternion message
 502  *
 503  * @return Indicated airspeed, expressed as m/s * 100
 504  */
 505 static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
 506 {
 507     return _MAV_RETURN_uint16_t(msg,  54);
 508 }
 509
 510 /**
 511  * @brief Get field true_airspeed from hil_state_quaternion message
 512  *
 513  * @return True airspeed, expressed as m/s * 100
 514  */
 515 static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
 516 {
 517     return _MAV_RETURN_uint16_t(msg,  56);
 518 }
 519
 520 /**
 521  * @brief Get field xacc from hil_state_quaternion message
 522  *
 523  * @return X acceleration (mg)
 524  */
 525 static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
 526 {
 527     return _MAV_RETURN_int16_t(msg,  58);
 528 }
 529
 530 /**
 531  * @brief Get field yacc from hil_state_quaternion message
 532  *
 533  * @return Y acceleration (mg)
 534  */
 535 static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
 536 {
 537     return _MAV_RETURN_int16_t(msg,  60);
 538 }
 539
 540 /**
 541  * @brief Get field zacc from hil_state_quaternion message
 542  *
 543  * @return Z acceleration (mg)
 544  */
 545 static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
 546 {
 547     return _MAV_RETURN_int16_t(msg,  62);
 548 }
 549
 550 /**
 551  * @brief Decode a hil_state_quaternion message into a struct
 552  *
 553  * @param msg The message to decode
 554  * @param hil_state_quaternion C-struct to decode the message contents into
 555  */
 556 static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
 557 {
 558 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 559     hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
 560     mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
 561     hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
 562     hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
 563     hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
 564     hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
 565     hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
 566     hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
 567     hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
 568     hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
 569     hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
 570     hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
 571     hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
 572     hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
 573     hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
 574     hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
 575 #else
 576         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN;
 577         memset(hil_state_quaternion, 0, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 578     memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), len);
 579 #endif
 580 }