lib/main/MAVLink/common/mavlink_msg_follow_target.h

   1 #pragma once
   2 // MESSAGE FOLLOW_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_FOLLOW_TARGET 144
   5
   6
   7 typedef struct __mavlink_follow_target_t {
   8  uint64_t timestamp; /*< [ms] Timestamp (time since system boot).*/
   9  uint64_t custom_state; /*<  button states or switches of a tracker device*/
  10  int32_t lat; /*< [degE7] Latitude (WGS84)*/
  11  int32_t lon; /*< [degE7] Longitude (WGS84)*/
  12  float alt; /*< [m] Altitude (MSL)*/
  13  float vel[3]; /*< [m/s] target velocity (0,0,0) for unknown*/
  14  float acc[3]; /*< [m/s/s] linear target acceleration (0,0,0) for unknown*/
  15  float attitude_q[4]; /*<  (1 0 0 0 for unknown)*/
  16  float rates[3]; /*<  (0 0 0 for unknown)*/
  17  float position_cov[3]; /*<  eph epv*/
  18  uint8_t est_capabilities; /*<  bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)*/
  19 } mavlink_follow_target_t;
  20
  21 #define MAVLINK_MSG_ID_FOLLOW_TARGET_LEN 93
  22 #define MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN 93
  23 #define MAVLINK_MSG_ID_144_LEN 93
  24 #define MAVLINK_MSG_ID_144_MIN_LEN 93
  25
  26 #define MAVLINK_MSG_ID_FOLLOW_TARGET_CRC 127
  27 #define MAVLINK_MSG_ID_144_CRC 127
  28
  29 #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_VEL_LEN 3
  30 #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ACC_LEN 3
  31 #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ATTITUDE_Q_LEN 4
  32 #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_RATES_LEN 3
  33 #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_POSITION_COV_LEN 3
  34
  35 #if MAVLINK_COMMAND_24BIT
  36 #define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \
  37     144, \
  38     "FOLLOW_TARGET", \
  39     11, \
  40     {  { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \
  41          { "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \
  42          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \
  43          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \
  44          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \
  45          { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \
  46          { "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \
  47          { "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \
  48          { "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \
  49          { "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \
  50          { "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \
  51          } \
  52 }
  53 #else
  54 #define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \
  55     "FOLLOW_TARGET", \
  56     11, \
  57     {  { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \
  58          { "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \
  59          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \
  60          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \
  61          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \
  62          { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \
  63          { "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \
  64          { "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \
  65          { "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \
  66          { "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \
  67          { "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \
  68          } \
  69 }
  70 #endif
  71
  72 /**
  73  * @brief Pack a follow_target message
  74  * @param system_id ID of this system
  75  * @param component_id ID of this component (e.g. 200 for IMU)
  76  * @param msg The MAVLink message to compress the data into
  77  *
  78  * @param timestamp [ms] Timestamp (time since system boot).
  79  * @param est_capabilities  bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
  80  * @param lat [degE7] Latitude (WGS84)
  81  * @param lon [degE7] Longitude (WGS84)
  82  * @param alt [m] Altitude (MSL)
  83  * @param vel [m/s] target velocity (0,0,0) for unknown
  84  * @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
  85  * @param attitude_q  (1 0 0 0 for unknown)
  86  * @param rates  (0 0 0 for unknown)
  87  * @param position_cov  eph epv
  88  * @param custom_state  button states or switches of a tracker device
  89  * @return length of the message in bytes (excluding serial stream start sign)
  90  */
  91 static inline uint16_t mavlink_msg_follow_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  92                                uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
  93 {
  94 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  95     char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
  96     _mav_put_uint64_t(buf, 0, timestamp);
  97     _mav_put_uint64_t(buf, 8, custom_state);
  98     _mav_put_int32_t(buf, 16, lat);
  99     _mav_put_int32_t(buf, 20, lon);
 100     _mav_put_float(buf, 24, alt);
 101     _mav_put_uint8_t(buf, 92, est_capabilities);
 102     _mav_put_float_array(buf, 28, vel, 3);
 103     _mav_put_float_array(buf, 40, acc, 3);
 104     _mav_put_float_array(buf, 52, attitude_q, 4);
 105     _mav_put_float_array(buf, 68, rates, 3);
 106     _mav_put_float_array(buf, 80, position_cov, 3);
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
 108 #else
 109     mavlink_follow_target_t packet;
 110     packet.timestamp = timestamp;
 111     packet.custom_state = custom_state;
 112     packet.lat = lat;
 113     packet.lon = lon;
 114     packet.alt = alt;
 115     packet.est_capabilities = est_capabilities;
 116     mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
 117     mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
 118     mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
 119     mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
 120     mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
 121         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
 122 #endif
 123
 124     msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
 125     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 126 }
 127
 128 /**
 129  * @brief Pack a follow_target message on a channel
 130  * @param system_id ID of this system
 131  * @param component_id ID of this component (e.g. 200 for IMU)
 132  * @param chan The MAVLink channel this message will be sent over
 133  * @param msg The MAVLink message to compress the data into
 134  * @param timestamp [ms] Timestamp (time since system boot).
 135  * @param est_capabilities  bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
 136  * @param lat [degE7] Latitude (WGS84)
 137  * @param lon [degE7] Longitude (WGS84)
 138  * @param alt [m] Altitude (MSL)
 139  * @param vel [m/s] target velocity (0,0,0) for unknown
 140  * @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
 141  * @param attitude_q  (1 0 0 0 for unknown)
 142  * @param rates  (0 0 0 for unknown)
 143  * @param position_cov  eph epv
 144  * @param custom_state  button states or switches of a tracker device
 145  * @return length of the message in bytes (excluding serial stream start sign)
 146  */
 147 static inline uint16_t mavlink_msg_follow_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 148                                mavlink_message_t* msg,
 149                                    uint64_t timestamp,uint8_t est_capabilities,int32_t lat,int32_t lon,float alt,const float *vel,const float *acc,const float *attitude_q,const float *rates,const float *position_cov,uint64_t custom_state)
 150 {
 151 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 152     char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
 153     _mav_put_uint64_t(buf, 0, timestamp);
 154     _mav_put_uint64_t(buf, 8, custom_state);
 155     _mav_put_int32_t(buf, 16, lat);
 156     _mav_put_int32_t(buf, 20, lon);
 157     _mav_put_float(buf, 24, alt);
 158     _mav_put_uint8_t(buf, 92, est_capabilities);
 159     _mav_put_float_array(buf, 28, vel, 3);
 160     _mav_put_float_array(buf, 40, acc, 3);
 161     _mav_put_float_array(buf, 52, attitude_q, 4);
 162     _mav_put_float_array(buf, 68, rates, 3);
 163     _mav_put_float_array(buf, 80, position_cov, 3);
 164         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
 165 #else
 166     mavlink_follow_target_t packet;
 167     packet.timestamp = timestamp;
 168     packet.custom_state = custom_state;
 169     packet.lat = lat;
 170     packet.lon = lon;
 171     packet.alt = alt;
 172     packet.est_capabilities = est_capabilities;
 173     mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
 174     mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
 175     mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
 176     mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
 177     mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
 178         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
 179 #endif
 180
 181     msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
 182     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 183 }
 184
 185 /**
 186  * @brief Encode a follow_target struct
 187  *
 188  * @param system_id ID of this system
 189  * @param component_id ID of this component (e.g. 200 for IMU)
 190  * @param msg The MAVLink message to compress the data into
 191  * @param follow_target C-struct to read the message contents from
 192  */
 193 static inline uint16_t mavlink_msg_follow_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
 194 {
 195     return mavlink_msg_follow_target_pack(system_id, component_id, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
 196 }
 197
 198 /**
 199  * @brief Encode a follow_target struct on a channel
 200  *
 201  * @param system_id ID of this system
 202  * @param component_id ID of this component (e.g. 200 for IMU)
 203  * @param chan The MAVLink channel this message will be sent over
 204  * @param msg The MAVLink message to compress the data into
 205  * @param follow_target C-struct to read the message contents from
 206  */
 207 static inline uint16_t mavlink_msg_follow_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
 208 {
 209     return mavlink_msg_follow_target_pack_chan(system_id, component_id, chan, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
 210 }
 211
 212 /**
 213  * @brief Send a follow_target message
 214  * @param chan MAVLink channel to send the message
 215  *
 216  * @param timestamp [ms] Timestamp (time since system boot).
 217  * @param est_capabilities  bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
 218  * @param lat [degE7] Latitude (WGS84)
 219  * @param lon [degE7] Longitude (WGS84)
 220  * @param alt [m] Altitude (MSL)
 221  * @param vel [m/s] target velocity (0,0,0) for unknown
 222  * @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
 223  * @param attitude_q  (1 0 0 0 for unknown)
 224  * @param rates  (0 0 0 for unknown)
 225  * @param position_cov  eph epv
 226  * @param custom_state  button states or switches of a tracker device
 227  */
 228 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 229
 230 static inline void mavlink_msg_follow_target_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
 231 {
 232 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 233     char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN];
 234     _mav_put_uint64_t(buf, 0, timestamp);
 235     _mav_put_uint64_t(buf, 8, custom_state);
 236     _mav_put_int32_t(buf, 16, lat);
 237     _mav_put_int32_t(buf, 20, lon);
 238     _mav_put_float(buf, 24, alt);
 239     _mav_put_uint8_t(buf, 92, est_capabilities);
 240     _mav_put_float_array(buf, 28, vel, 3);
 241     _mav_put_float_array(buf, 40, acc, 3);
 242     _mav_put_float_array(buf, 52, attitude_q, 4);
 243     _mav_put_float_array(buf, 68, rates, 3);
 244     _mav_put_float_array(buf, 80, position_cov, 3);
 245     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 246 #else
 247     mavlink_follow_target_t packet;
 248     packet.timestamp = timestamp;
 249     packet.custom_state = custom_state;
 250     packet.lat = lat;
 251     packet.lon = lon;
 252     packet.alt = alt;
 253     packet.est_capabilities = est_capabilities;
 254     mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
 255     mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
 256     mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
 257     mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
 258     mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
 259     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)&packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 260 #endif
 261 }
 262
 263 /**
 264  * @brief Send a follow_target message
 265  * @param chan MAVLink channel to send the message
 266  * @param struct The MAVLink struct to serialize
 267  */
 268 static inline void mavlink_msg_follow_target_send_struct(mavlink_channel_t chan, const mavlink_follow_target_t* follow_target)
 269 {
 270 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 271     mavlink_msg_follow_target_send(chan, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
 272 #else
 273     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)follow_target, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 274 #endif
 275 }
 276
 277 #if MAVLINK_MSG_ID_FOLLOW_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 278 /*
 279   This varient of _send() can be used to save stack space by re-using
 280   memory from the receive buffer.  The caller provides a
 281   mavlink_message_t which is the size of a full mavlink message. This
 282   is usually the receive buffer for the channel, and allows a reply to an
 283   incoming message with minimum stack space usage.
 284  */
 285 static inline void mavlink_msg_follow_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
 286 {
 287 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 288     char *buf = (char *)msgbuf;
 289     _mav_put_uint64_t(buf, 0, timestamp);
 290     _mav_put_uint64_t(buf, 8, custom_state);
 291     _mav_put_int32_t(buf, 16, lat);
 292     _mav_put_int32_t(buf, 20, lon);
 293     _mav_put_float(buf, 24, alt);
 294     _mav_put_uint8_t(buf, 92, est_capabilities);
 295     _mav_put_float_array(buf, 28, vel, 3);
 296     _mav_put_float_array(buf, 40, acc, 3);
 297     _mav_put_float_array(buf, 52, attitude_q, 4);
 298     _mav_put_float_array(buf, 68, rates, 3);
 299     _mav_put_float_array(buf, 80, position_cov, 3);
 300     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 301 #else
 302     mavlink_follow_target_t *packet = (mavlink_follow_target_t *)msgbuf;
 303     packet->timestamp = timestamp;
 304     packet->custom_state = custom_state;
 305     packet->lat = lat;
 306     packet->lon = lon;
 307     packet->alt = alt;
 308     packet->est_capabilities = est_capabilities;
 309     mav_array_memcpy(packet->vel, vel, sizeof(float)*3);
 310     mav_array_memcpy(packet->acc, acc, sizeof(float)*3);
 311     mav_array_memcpy(packet->attitude_q, attitude_q, sizeof(float)*4);
 312     mav_array_memcpy(packet->rates, rates, sizeof(float)*3);
 313     mav_array_memcpy(packet->position_cov, position_cov, sizeof(float)*3);
 314     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
 315 #endif
 316 }
 317 #endif
 318
 319 #endif
 320
 321 // MESSAGE FOLLOW_TARGET UNPACKING
 322
 323
 324 /**
 325  * @brief Get field timestamp from follow_target message
 326  *
 327  * @return [ms] Timestamp (time since system boot).
 328  */
 329 static inline uint64_t mavlink_msg_follow_target_get_timestamp(const mavlink_message_t* msg)
 330 {
 331     return _MAV_RETURN_uint64_t(msg,  0);
 332 }
 333
 334 /**
 335  * @brief Get field est_capabilities from follow_target message
 336  *
 337  * @return  bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
 338  */
 339 static inline uint8_t mavlink_msg_follow_target_get_est_capabilities(const mavlink_message_t* msg)
 340 {
 341     return _MAV_RETURN_uint8_t(msg,  92);
 342 }
 343
 344 /**
 345  * @brief Get field lat from follow_target message
 346  *
 347  * @return [degE7] Latitude (WGS84)
 348  */
 349 static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t* msg)
 350 {
 351     return _MAV_RETURN_int32_t(msg,  16);
 352 }
 353
 354 /**
 355  * @brief Get field lon from follow_target message
 356  *
 357  * @return [degE7] Longitude (WGS84)
 358  */
 359 static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t* msg)
 360 {
 361     return _MAV_RETURN_int32_t(msg,  20);
 362 }
 363
 364 /**
 365  * @brief Get field alt from follow_target message
 366  *
 367  * @return [m] Altitude (MSL)
 368  */
 369 static inline float mavlink_msg_follow_target_get_alt(const mavlink_message_t* msg)
 370 {
 371     return _MAV_RETURN_float(msg,  24);
 372 }
 373
 374 /**
 375  * @brief Get field vel from follow_target message
 376  *
 377  * @return [m/s] target velocity (0,0,0) for unknown
 378  */
 379 static inline uint16_t mavlink_msg_follow_target_get_vel(const mavlink_message_t* msg, float *vel)
 380 {
 381     return _MAV_RETURN_float_array(msg, vel, 3,  28);
 382 }
 383
 384 /**
 385  * @brief Get field acc from follow_target message
 386  *
 387  * @return [m/s/s] linear target acceleration (0,0,0) for unknown
 388  */
 389 static inline uint16_t mavlink_msg_follow_target_get_acc(const mavlink_message_t* msg, float *acc)
 390 {
 391     return _MAV_RETURN_float_array(msg, acc, 3,  40);
 392 }
 393
 394 /**
 395  * @brief Get field attitude_q from follow_target message
 396  *
 397  * @return  (1 0 0 0 for unknown)
 398  */
 399 static inline uint16_t mavlink_msg_follow_target_get_attitude_q(const mavlink_message_t* msg, float *attitude_q)
 400 {
 401     return _MAV_RETURN_float_array(msg, attitude_q, 4,  52);
 402 }
 403
 404 /**
 405  * @brief Get field rates from follow_target message
 406  *
 407  * @return  (0 0 0 for unknown)
 408  */
 409 static inline uint16_t mavlink_msg_follow_target_get_rates(const mavlink_message_t* msg, float *rates)
 410 {
 411     return _MAV_RETURN_float_array(msg, rates, 3,  68);
 412 }
 413
 414 /**
 415  * @brief Get field position_cov from follow_target message
 416  *
 417  * @return  eph epv
 418  */
 419 static inline uint16_t mavlink_msg_follow_target_get_position_cov(const mavlink_message_t* msg, float *position_cov)
 420 {
 421     return _MAV_RETURN_float_array(msg, position_cov, 3,  80);
 422 }
 423
 424 /**
 425  * @brief Get field custom_state from follow_target message
 426  *
 427  * @return  button states or switches of a tracker device
 428  */
 429 static inline uint64_t mavlink_msg_follow_target_get_custom_state(const mavlink_message_t* msg)
 430 {
 431     return _MAV_RETURN_uint64_t(msg,  8);
 432 }
 433
 434 /**
 435  * @brief Decode a follow_target message into a struct
 436  *
 437  * @param msg The message to decode
 438  * @param follow_target C-struct to decode the message contents into
 439  */
 440 static inline void mavlink_msg_follow_target_decode(const mavlink_message_t* msg, mavlink_follow_target_t* follow_target)
 441 {
 442 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 443     follow_target->timestamp = mavlink_msg_follow_target_get_timestamp(msg);
 444     follow_target->custom_state = mavlink_msg_follow_target_get_custom_state(msg);
 445     follow_target->lat = mavlink_msg_follow_target_get_lat(msg);
 446     follow_target->lon = mavlink_msg_follow_target_get_lon(msg);
 447     follow_target->alt = mavlink_msg_follow_target_get_alt(msg);
 448     mavlink_msg_follow_target_get_vel(msg, follow_target->vel);
 449     mavlink_msg_follow_target_get_acc(msg, follow_target->acc);
 450     mavlink_msg_follow_target_get_attitude_q(msg, follow_target->attitude_q);
 451     mavlink_msg_follow_target_get_rates(msg, follow_target->rates);
 452     mavlink_msg_follow_target_get_position_cov(msg, follow_target->position_cov);
 453     follow_target->est_capabilities = mavlink_msg_follow_target_get_est_capabilities(msg);
 454 #else
 455         uint8_t len = msg->len < MAVLINK_MSG_ID_FOLLOW_TARGET_LEN? msg->len : MAVLINK_MSG_ID_FOLLOW_TARGET_LEN;
 456         memset(follow_target, 0, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
 457     memcpy(follow_target, _MAV_PAYLOAD(msg), len);
 458 #endif
 459 }