lib/main/MAVLink/common/mavlink_msg_set_position_target_local_ned.h

   1 #pragma once
   2 // MESSAGE SET_POSITION_TARGET_LOCAL_NED PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED 84
   5
   6
   7 typedef struct __mavlink_set_position_target_local_ned_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  float x; /*< [m] X Position in NED frame*/
  10  float y; /*< [m] Y Position in NED frame*/
  11  float z; /*< [m] Z Position in NED frame (note, altitude is negative in NED)*/
  12  float vx; /*< [m/s] X velocity in NED frame*/
  13  float vy; /*< [m/s] Y velocity in NED frame*/
  14  float vz; /*< [m/s] Z velocity in NED frame*/
  15  float afx; /*< [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
  16  float afy; /*< [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
  17  float afz; /*< [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
  18  float yaw; /*< [rad] yaw setpoint*/
  19  float yaw_rate; /*< [rad/s] yaw rate setpoint*/
  20  uint16_t type_mask; /*<  Bitmap to indicate which dimensions should be ignored by the vehicle.*/
  21  uint8_t target_system; /*<  System ID*/
  22  uint8_t target_component; /*<  Component ID*/
  23  uint8_t coordinate_frame; /*<  Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9*/
  24 } mavlink_set_position_target_local_ned_t;
  25
  26 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN 53
  27 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN 53
  28 #define MAVLINK_MSG_ID_84_LEN 53
  29 #define MAVLINK_MSG_ID_84_MIN_LEN 53
  30
  31 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC 143
  32 #define MAVLINK_MSG_ID_84_CRC 143
  33
  34
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_LOCAL_NED { \
  38     84, \
  39     "SET_POSITION_TARGET_LOCAL_NED", \
  40     16, \
  41     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_local_ned_t, time_boot_ms) }, \
  42          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_local_ned_t, target_system) }, \
  43          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_local_ned_t, target_component) }, \
  44          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_local_ned_t, coordinate_frame) }, \
  45          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_local_ned_t, type_mask) }, \
  46          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_position_target_local_ned_t, x) }, \
  47          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_position_target_local_ned_t, y) }, \
  48          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_local_ned_t, z) }, \
  49          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_local_ned_t, vx) }, \
  50          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_local_ned_t, vy) }, \
  51          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_local_ned_t, vz) }, \
  52          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_local_ned_t, afx) }, \
  53          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_local_ned_t, afy) }, \
  54          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_local_ned_t, afz) }, \
  55          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_local_ned_t, yaw) }, \
  56          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_local_ned_t, yaw_rate) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_LOCAL_NED { \
  61     "SET_POSITION_TARGET_LOCAL_NED", \
  62     16, \
  63     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_local_ned_t, time_boot_ms) }, \
  64          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_local_ned_t, target_system) }, \
  65          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_local_ned_t, target_component) }, \
  66          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_local_ned_t, coordinate_frame) }, \
  67          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_local_ned_t, type_mask) }, \
  68          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_position_target_local_ned_t, x) }, \
  69          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_position_target_local_ned_t, y) }, \
  70          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_local_ned_t, z) }, \
  71          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_local_ned_t, vx) }, \
  72          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_local_ned_t, vy) }, \
  73          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_local_ned_t, vz) }, \
  74          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_local_ned_t, afx) }, \
  75          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_local_ned_t, afy) }, \
  76          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_local_ned_t, afz) }, \
  77          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_local_ned_t, yaw) }, \
  78          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_local_ned_t, yaw_rate) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a set_position_target_local_ned 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_boot_ms [ms] Timestamp (time since system boot).
  90  * @param target_system  System ID
  91  * @param target_component  Component ID
  92  * @param coordinate_frame  Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
  93  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
  94  * @param x [m] X Position in NED frame
  95  * @param y [m] Y Position in NED frame
  96  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
  97  * @param vx [m/s] X velocity in NED frame
  98  * @param vy [m/s] Y velocity in NED frame
  99  * @param vz [m/s] Z velocity in NED frame
 100  * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 101  * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 102  * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 103  * @param yaw [rad] yaw setpoint
 104  * @param yaw_rate [rad/s] yaw rate setpoint
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
 112     _mav_put_uint32_t(buf, 0, time_boot_ms);
 113     _mav_put_float(buf, 4, x);
 114     _mav_put_float(buf, 8, y);
 115     _mav_put_float(buf, 12, z);
 116     _mav_put_float(buf, 16, vx);
 117     _mav_put_float(buf, 20, vy);
 118     _mav_put_float(buf, 24, vz);
 119     _mav_put_float(buf, 28, afx);
 120     _mav_put_float(buf, 32, afy);
 121     _mav_put_float(buf, 36, afz);
 122     _mav_put_float(buf, 40, yaw);
 123     _mav_put_float(buf, 44, yaw_rate);
 124     _mav_put_uint16_t(buf, 48, type_mask);
 125     _mav_put_uint8_t(buf, 50, target_system);
 126     _mav_put_uint8_t(buf, 51, target_component);
 127     _mav_put_uint8_t(buf, 52, coordinate_frame);
 128
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 130 #else
 131     mavlink_set_position_target_local_ned_t packet;
 132     packet.time_boot_ms = time_boot_ms;
 133     packet.x = x;
 134     packet.y = y;
 135     packet.z = z;
 136     packet.vx = vx;
 137     packet.vy = vy;
 138     packet.vz = vz;
 139     packet.afx = afx;
 140     packet.afy = afy;
 141     packet.afz = afz;
 142     packet.yaw = yaw;
 143     packet.yaw_rate = yaw_rate;
 144     packet.type_mask = type_mask;
 145     packet.target_system = target_system;
 146     packet.target_component = target_component;
 147     packet.coordinate_frame = coordinate_frame;
 148
 149         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 150 #endif
 151
 152     msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED;
 153     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 154 }
 155
 156 /**
 157  * @brief Pack a set_position_target_local_ned 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_boot_ms [ms] Timestamp (time since system boot).
 163  * @param target_system  System ID
 164  * @param target_component  Component ID
 165  * @param coordinate_frame  Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 166  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 167  * @param x [m] X Position in NED frame
 168  * @param y [m] Y Position in NED frame
 169  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
 170  * @param vx [m/s] X velocity in NED frame
 171  * @param vy [m/s] Y velocity in NED frame
 172  * @param vz [m/s] Z velocity in NED frame
 173  * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 174  * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 175  * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 176  * @param yaw [rad] yaw setpoint
 177  * @param yaw_rate [rad/s] yaw rate setpoint
 178  * @return length of the message in bytes (excluding serial stream start sign)
 179  */
 180 static inline uint16_t mavlink_msg_set_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 181                                mavlink_message_t* msg,
 182                                    uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
 186     _mav_put_uint32_t(buf, 0, time_boot_ms);
 187     _mav_put_float(buf, 4, x);
 188     _mav_put_float(buf, 8, y);
 189     _mav_put_float(buf, 12, z);
 190     _mav_put_float(buf, 16, vx);
 191     _mav_put_float(buf, 20, vy);
 192     _mav_put_float(buf, 24, vz);
 193     _mav_put_float(buf, 28, afx);
 194     _mav_put_float(buf, 32, afy);
 195     _mav_put_float(buf, 36, afz);
 196     _mav_put_float(buf, 40, yaw);
 197     _mav_put_float(buf, 44, yaw_rate);
 198     _mav_put_uint16_t(buf, 48, type_mask);
 199     _mav_put_uint8_t(buf, 50, target_system);
 200     _mav_put_uint8_t(buf, 51, target_component);
 201     _mav_put_uint8_t(buf, 52, coordinate_frame);
 202
 203         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 204 #else
 205     mavlink_set_position_target_local_ned_t packet;
 206     packet.time_boot_ms = time_boot_ms;
 207     packet.x = x;
 208     packet.y = y;
 209     packet.z = z;
 210     packet.vx = vx;
 211     packet.vy = vy;
 212     packet.vz = vz;
 213     packet.afx = afx;
 214     packet.afy = afy;
 215     packet.afz = afz;
 216     packet.yaw = yaw;
 217     packet.yaw_rate = yaw_rate;
 218     packet.type_mask = type_mask;
 219     packet.target_system = target_system;
 220     packet.target_component = target_component;
 221     packet.coordinate_frame = coordinate_frame;
 222
 223         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 224 #endif
 225
 226     msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED;
 227     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 228 }
 229
 230 /**
 231  * @brief Encode a set_position_target_local_ned 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 set_position_target_local_ned C-struct to read the message contents from
 237  */
 238 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 239 {
 240     return mavlink_msg_set_position_target_local_ned_pack(system_id, component_id, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
 241 }
 242
 243 /**
 244  * @brief Encode a set_position_target_local_ned 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 set_position_target_local_ned C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_set_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 253 {
 254     return mavlink_msg_set_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
 255 }
 256
 257 /**
 258  * @brief Send a set_position_target_local_ned message
 259  * @param chan MAVLink channel to send the message
 260  *
 261  * @param time_boot_ms [ms] Timestamp (time since system boot).
 262  * @param target_system  System ID
 263  * @param target_component  Component ID
 264  * @param coordinate_frame  Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 265  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 266  * @param x [m] X Position in NED frame
 267  * @param y [m] Y Position in NED frame
 268  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
 269  * @param vx [m/s] X velocity in NED frame
 270  * @param vy [m/s] Y velocity in NED frame
 271  * @param vz [m/s] Z velocity in NED frame
 272  * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 273  * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 274  * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 275  * @param yaw [rad] yaw setpoint
 276  * @param yaw_rate [rad/s] yaw rate setpoint
 277  */
 278 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 279
 280 static inline void mavlink_msg_set_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 281 {
 282 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 283     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN];
 284     _mav_put_uint32_t(buf, 0, time_boot_ms);
 285     _mav_put_float(buf, 4, x);
 286     _mav_put_float(buf, 8, y);
 287     _mav_put_float(buf, 12, z);
 288     _mav_put_float(buf, 16, vx);
 289     _mav_put_float(buf, 20, vy);
 290     _mav_put_float(buf, 24, vz);
 291     _mav_put_float(buf, 28, afx);
 292     _mav_put_float(buf, 32, afy);
 293     _mav_put_float(buf, 36, afz);
 294     _mav_put_float(buf, 40, yaw);
 295     _mav_put_float(buf, 44, yaw_rate);
 296     _mav_put_uint16_t(buf, 48, type_mask);
 297     _mav_put_uint8_t(buf, 50, target_system);
 298     _mav_put_uint8_t(buf, 51, target_component);
 299     _mav_put_uint8_t(buf, 52, coordinate_frame);
 300
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 302 #else
 303     mavlink_set_position_target_local_ned_t packet;
 304     packet.time_boot_ms = time_boot_ms;
 305     packet.x = x;
 306     packet.y = y;
 307     packet.z = z;
 308     packet.vx = vx;
 309     packet.vy = vy;
 310     packet.vz = vz;
 311     packet.afx = afx;
 312     packet.afy = afy;
 313     packet.afz = afz;
 314     packet.yaw = yaw;
 315     packet.yaw_rate = yaw_rate;
 316     packet.type_mask = type_mask;
 317     packet.target_system = target_system;
 318     packet.target_component = target_component;
 319     packet.coordinate_frame = coordinate_frame;
 320
 321     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 322 #endif
 323 }
 324
 325 /**
 326  * @brief Send a set_position_target_local_ned 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_set_position_target_local_ned_send_struct(mavlink_channel_t chan, const mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 331 {
 332 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 333     mavlink_msg_set_position_target_local_ned_send(chan, set_position_target_local_ned->time_boot_ms, set_position_target_local_ned->target_system, set_position_target_local_ned->target_component, set_position_target_local_ned->coordinate_frame, set_position_target_local_ned->type_mask, set_position_target_local_ned->x, set_position_target_local_ned->y, set_position_target_local_ned->z, set_position_target_local_ned->vx, set_position_target_local_ned->vy, set_position_target_local_ned->vz, set_position_target_local_ned->afx, set_position_target_local_ned->afy, set_position_target_local_ned->afz, set_position_target_local_ned->yaw, set_position_target_local_ned->yaw_rate);
 334 #else
 335     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)set_position_target_local_ned, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 336 #endif
 337 }
 338
 339 #if MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_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_set_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 350     char *buf = (char *)msgbuf;
 351     _mav_put_uint32_t(buf, 0, time_boot_ms);
 352     _mav_put_float(buf, 4, x);
 353     _mav_put_float(buf, 8, y);
 354     _mav_put_float(buf, 12, z);
 355     _mav_put_float(buf, 16, vx);
 356     _mav_put_float(buf, 20, vy);
 357     _mav_put_float(buf, 24, vz);
 358     _mav_put_float(buf, 28, afx);
 359     _mav_put_float(buf, 32, afy);
 360     _mav_put_float(buf, 36, afz);
 361     _mav_put_float(buf, 40, yaw);
 362     _mav_put_float(buf, 44, yaw_rate);
 363     _mav_put_uint16_t(buf, 48, type_mask);
 364     _mav_put_uint8_t(buf, 50, target_system);
 365     _mav_put_uint8_t(buf, 51, target_component);
 366     _mav_put_uint8_t(buf, 52, coordinate_frame);
 367
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 369 #else
 370     mavlink_set_position_target_local_ned_t *packet = (mavlink_set_position_target_local_ned_t *)msgbuf;
 371     packet->time_boot_ms = time_boot_ms;
 372     packet->x = x;
 373     packet->y = y;
 374     packet->z = z;
 375     packet->vx = vx;
 376     packet->vy = vy;
 377     packet->vz = vz;
 378     packet->afx = afx;
 379     packet->afy = afy;
 380     packet->afz = afz;
 381     packet->yaw = yaw;
 382     packet->yaw_rate = yaw_rate;
 383     packet->type_mask = type_mask;
 384     packet->target_system = target_system;
 385     packet->target_component = target_component;
 386     packet->coordinate_frame = coordinate_frame;
 387
 388     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_CRC);
 389 #endif
 390 }
 391 #endif
 392
 393 #endif
 394
 395 // MESSAGE SET_POSITION_TARGET_LOCAL_NED UNPACKING
 396
 397
 398 /**
 399  * @brief Get field time_boot_ms from set_position_target_local_ned message
 400  *
 401  * @return [ms] Timestamp (time since system boot).
 402  */
 403 static inline uint32_t mavlink_msg_set_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_uint32_t(msg,  0);
 406 }
 407
 408 /**
 409  * @brief Get field target_system from set_position_target_local_ned message
 410  *
 411  * @return  System ID
 412  */
 413 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_system(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_uint8_t(msg,  50);
 416 }
 417
 418 /**
 419  * @brief Get field target_component from set_position_target_local_ned message
 420  *
 421  * @return  Component ID
 422  */
 423 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_target_component(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_uint8_t(msg,  51);
 426 }
 427
 428 /**
 429  * @brief Get field coordinate_frame from set_position_target_local_ned message
 430  *
 431  * @return  Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
 432  */
 433 static inline uint8_t mavlink_msg_set_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_uint8_t(msg,  52);
 436 }
 437
 438 /**
 439  * @brief Get field type_mask from set_position_target_local_ned message
 440  *
 441  * @return  Bitmap to indicate which dimensions should be ignored by the vehicle.
 442  */
 443 static inline uint16_t mavlink_msg_set_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_uint16_t(msg,  48);
 446 }
 447
 448 /**
 449  * @brief Get field x from set_position_target_local_ned message
 450  *
 451  * @return [m] X Position in NED frame
 452  */
 453 static inline float mavlink_msg_set_position_target_local_ned_get_x(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_float(msg,  4);
 456 }
 457
 458 /**
 459  * @brief Get field y from set_position_target_local_ned message
 460  *
 461  * @return [m] Y Position in NED frame
 462  */
 463 static inline float mavlink_msg_set_position_target_local_ned_get_y(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_float(msg,  8);
 466 }
 467
 468 /**
 469  * @brief Get field z from set_position_target_local_ned message
 470  *
 471  * @return [m] Z Position in NED frame (note, altitude is negative in NED)
 472  */
 473 static inline float mavlink_msg_set_position_target_local_ned_get_z(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_float(msg,  12);
 476 }
 477
 478 /**
 479  * @brief Get field vx from set_position_target_local_ned message
 480  *
 481  * @return [m/s] X velocity in NED frame
 482  */
 483 static inline float mavlink_msg_set_position_target_local_ned_get_vx(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_float(msg,  16);
 486 }
 487
 488 /**
 489  * @brief Get field vy from set_position_target_local_ned message
 490  *
 491  * @return [m/s] Y velocity in NED frame
 492  */
 493 static inline float mavlink_msg_set_position_target_local_ned_get_vy(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_float(msg,  20);
 496 }
 497
 498 /**
 499  * @brief Get field vz from set_position_target_local_ned message
 500  *
 501  * @return [m/s] Z velocity in NED frame
 502  */
 503 static inline float mavlink_msg_set_position_target_local_ned_get_vz(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_float(msg,  24);
 506 }
 507
 508 /**
 509  * @brief Get field afx from set_position_target_local_ned message
 510  *
 511  * @return [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 512  */
 513 static inline float mavlink_msg_set_position_target_local_ned_get_afx(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_float(msg,  28);
 516 }
 517
 518 /**
 519  * @brief Get field afy from set_position_target_local_ned message
 520  *
 521  * @return [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 522  */
 523 static inline float mavlink_msg_set_position_target_local_ned_get_afy(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_float(msg,  32);
 526 }
 527
 528 /**
 529  * @brief Get field afz from set_position_target_local_ned message
 530  *
 531  * @return [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 532  */
 533 static inline float mavlink_msg_set_position_target_local_ned_get_afz(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_float(msg,  36);
 536 }
 537
 538 /**
 539  * @brief Get field yaw from set_position_target_local_ned message
 540  *
 541  * @return [rad] yaw setpoint
 542  */
 543 static inline float mavlink_msg_set_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_float(msg,  40);
 546 }
 547
 548 /**
 549  * @brief Get field yaw_rate from set_position_target_local_ned message
 550  *
 551  * @return [rad/s] yaw rate setpoint
 552  */
 553 static inline float mavlink_msg_set_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_float(msg,  44);
 556 }
 557
 558 /**
 559  * @brief Decode a set_position_target_local_ned message into a struct
 560  *
 561  * @param msg The message to decode
 562  * @param set_position_target_local_ned C-struct to decode the message contents into
 563  */
 564 static inline void mavlink_msg_set_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_set_position_target_local_ned_t* set_position_target_local_ned)
 565 {
 566 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 567     set_position_target_local_ned->time_boot_ms = mavlink_msg_set_position_target_local_ned_get_time_boot_ms(msg);
 568     set_position_target_local_ned->x = mavlink_msg_set_position_target_local_ned_get_x(msg);
 569     set_position_target_local_ned->y = mavlink_msg_set_position_target_local_ned_get_y(msg);
 570     set_position_target_local_ned->z = mavlink_msg_set_position_target_local_ned_get_z(msg);
 571     set_position_target_local_ned->vx = mavlink_msg_set_position_target_local_ned_get_vx(msg);
 572     set_position_target_local_ned->vy = mavlink_msg_set_position_target_local_ned_get_vy(msg);
 573     set_position_target_local_ned->vz = mavlink_msg_set_position_target_local_ned_get_vz(msg);
 574     set_position_target_local_ned->afx = mavlink_msg_set_position_target_local_ned_get_afx(msg);
 575     set_position_target_local_ned->afy = mavlink_msg_set_position_target_local_ned_get_afy(msg);
 576     set_position_target_local_ned->afz = mavlink_msg_set_position_target_local_ned_get_afz(msg);
 577     set_position_target_local_ned->yaw = mavlink_msg_set_position_target_local_ned_get_yaw(msg);
 578     set_position_target_local_ned->yaw_rate = mavlink_msg_set_position_target_local_ned_get_yaw_rate(msg);
 579     set_position_target_local_ned->type_mask = mavlink_msg_set_position_target_local_ned_get_type_mask(msg);
 580     set_position_target_local_ned->target_system = mavlink_msg_set_position_target_local_ned_get_target_system(msg);
 581     set_position_target_local_ned->target_component = mavlink_msg_set_position_target_local_ned_get_target_component(msg);
 582     set_position_target_local_ned->coordinate_frame = mavlink_msg_set_position_target_local_ned_get_coordinate_frame(msg);
 583 #else
 584         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN? msg->len : MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN;
 585         memset(set_position_target_local_ned, 0, MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED_LEN);
 586     memcpy(set_position_target_local_ned, _MAV_PAYLOAD(msg), len);
 587 #endif
 588 }