lib/main/MAVLink/common/mavlink_msg_control_system_state.h

   1 #pragma once
   2 // MESSAGE CONTROL_SYSTEM_STATE PACKING
   3
   4 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146
   5
   6
   7 typedef struct __mavlink_control_system_state_t {
   8  uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  float x_acc; /*< [m/s/s] X acceleration in body frame*/
  10  float y_acc; /*< [m/s/s] Y acceleration in body frame*/
  11  float z_acc; /*< [m/s/s] Z acceleration in body frame*/
  12  float x_vel; /*< [m/s] X velocity in body frame*/
  13  float y_vel; /*< [m/s] Y velocity in body frame*/
  14  float z_vel; /*< [m/s] Z velocity in body frame*/
  15  float x_pos; /*< [m] X position in local frame*/
  16  float y_pos; /*< [m] Y position in local frame*/
  17  float z_pos; /*< [m] Z position in local frame*/
  18  float airspeed; /*< [m/s] Airspeed, set to -1 if unknown*/
  19  float vel_variance[3]; /*<  Variance of body velocity estimate*/
  20  float pos_variance[3]; /*<  Variance in local position*/
  21  float q[4]; /*<  The attitude, represented as Quaternion*/
  22  float roll_rate; /*< [rad/s] Angular rate in roll axis*/
  23  float pitch_rate; /*< [rad/s] Angular rate in pitch axis*/
  24  float yaw_rate; /*< [rad/s] Angular rate in yaw axis*/
  25 } mavlink_control_system_state_t;
  26
  27 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100
  28 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100
  29 #define MAVLINK_MSG_ID_146_LEN 100
  30 #define MAVLINK_MSG_ID_146_MIN_LEN 100
  31
  32 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103
  33 #define MAVLINK_MSG_ID_146_CRC 103
  34
  35 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3
  36 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3
  37 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4
  38
  39 #if MAVLINK_COMMAND_24BIT
  40 #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
  41     146, \
  42     "CONTROL_SYSTEM_STATE", \
  43     17, \
  44     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
  45          { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
  46          { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
  47          { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
  48          { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
  49          { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
  50          { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
  51          { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
  52          { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
  53          { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
  54          { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
  55          { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
  56          { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
  57          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
  58          { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
  59          { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
  60          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
  61          } \
  62 }
  63 #else
  64 #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
  65     "CONTROL_SYSTEM_STATE", \
  66     17, \
  67     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
  68          { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
  69          { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
  70          { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
  71          { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
  72          { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
  73          { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
  74          { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
  75          { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
  76          { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
  77          { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
  78          { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
  79          { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
  80          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
  81          { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
  82          { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
  83          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
  84          } \
  85 }
  86 #endif
  87
  88 /**
  89  * @brief Pack a control_system_state message
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param msg The MAVLink message to compress the data into
  93  *
  94  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  95  * @param x_acc [m/s/s] X acceleration in body frame
  96  * @param y_acc [m/s/s] Y acceleration in body frame
  97  * @param z_acc [m/s/s] Z acceleration in body frame
  98  * @param x_vel [m/s] X velocity in body frame
  99  * @param y_vel [m/s] Y velocity in body frame
 100  * @param z_vel [m/s] Z velocity in body frame
 101  * @param x_pos [m] X position in local frame
 102  * @param y_pos [m] Y position in local frame
 103  * @param z_pos [m] Z position in local frame
 104  * @param airspeed [m/s] Airspeed, set to -1 if unknown
 105  * @param vel_variance  Variance of body velocity estimate
 106  * @param pos_variance  Variance in local position
 107  * @param q  The attitude, represented as Quaternion
 108  * @param roll_rate [rad/s] Angular rate in roll axis
 109  * @param pitch_rate [rad/s] Angular rate in pitch axis
 110  * @param yaw_rate [rad/s] Angular rate in yaw axis
 111  * @return length of the message in bytes (excluding serial stream start sign)
 112  */
 113 static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 114                                uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 115 {
 116 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 117     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 118     _mav_put_uint64_t(buf, 0, time_usec);
 119     _mav_put_float(buf, 8, x_acc);
 120     _mav_put_float(buf, 12, y_acc);
 121     _mav_put_float(buf, 16, z_acc);
 122     _mav_put_float(buf, 20, x_vel);
 123     _mav_put_float(buf, 24, y_vel);
 124     _mav_put_float(buf, 28, z_vel);
 125     _mav_put_float(buf, 32, x_pos);
 126     _mav_put_float(buf, 36, y_pos);
 127     _mav_put_float(buf, 40, z_pos);
 128     _mav_put_float(buf, 44, airspeed);
 129     _mav_put_float(buf, 88, roll_rate);
 130     _mav_put_float(buf, 92, pitch_rate);
 131     _mav_put_float(buf, 96, yaw_rate);
 132     _mav_put_float_array(buf, 48, vel_variance, 3);
 133     _mav_put_float_array(buf, 60, pos_variance, 3);
 134     _mav_put_float_array(buf, 72, q, 4);
 135         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 136 #else
 137     mavlink_control_system_state_t packet;
 138     packet.time_usec = time_usec;
 139     packet.x_acc = x_acc;
 140     packet.y_acc = y_acc;
 141     packet.z_acc = z_acc;
 142     packet.x_vel = x_vel;
 143     packet.y_vel = y_vel;
 144     packet.z_vel = z_vel;
 145     packet.x_pos = x_pos;
 146     packet.y_pos = y_pos;
 147     packet.z_pos = z_pos;
 148     packet.airspeed = airspeed;
 149     packet.roll_rate = roll_rate;
 150     packet.pitch_rate = pitch_rate;
 151     packet.yaw_rate = yaw_rate;
 152     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 153     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 154     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 155         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 156 #endif
 157
 158     msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
 159     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 160 }
 161
 162 /**
 163  * @brief Pack a control_system_state message on a channel
 164  * @param system_id ID of this system
 165  * @param component_id ID of this component (e.g. 200 for IMU)
 166  * @param chan The MAVLink channel this message will be sent over
 167  * @param msg The MAVLink message to compress the data into
 168  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 169  * @param x_acc [m/s/s] X acceleration in body frame
 170  * @param y_acc [m/s/s] Y acceleration in body frame
 171  * @param z_acc [m/s/s] Z acceleration in body frame
 172  * @param x_vel [m/s] X velocity in body frame
 173  * @param y_vel [m/s] Y velocity in body frame
 174  * @param z_vel [m/s] Z velocity in body frame
 175  * @param x_pos [m] X position in local frame
 176  * @param y_pos [m] Y position in local frame
 177  * @param z_pos [m] Z position in local frame
 178  * @param airspeed [m/s] Airspeed, set to -1 if unknown
 179  * @param vel_variance  Variance of body velocity estimate
 180  * @param pos_variance  Variance in local position
 181  * @param q  The attitude, represented as Quaternion
 182  * @param roll_rate [rad/s] Angular rate in roll axis
 183  * @param pitch_rate [rad/s] Angular rate in pitch axis
 184  * @param yaw_rate [rad/s] Angular rate in yaw axis
 185  * @return length of the message in bytes (excluding serial stream start sign)
 186  */
 187 static inline uint16_t mavlink_msg_control_system_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 188                                mavlink_message_t* msg,
 189                                    uint64_t time_usec,float x_acc,float y_acc,float z_acc,float x_vel,float y_vel,float z_vel,float x_pos,float y_pos,float z_pos,float airspeed,const float *vel_variance,const float *pos_variance,const float *q,float roll_rate,float pitch_rate,float yaw_rate)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 193     _mav_put_uint64_t(buf, 0, time_usec);
 194     _mav_put_float(buf, 8, x_acc);
 195     _mav_put_float(buf, 12, y_acc);
 196     _mav_put_float(buf, 16, z_acc);
 197     _mav_put_float(buf, 20, x_vel);
 198     _mav_put_float(buf, 24, y_vel);
 199     _mav_put_float(buf, 28, z_vel);
 200     _mav_put_float(buf, 32, x_pos);
 201     _mav_put_float(buf, 36, y_pos);
 202     _mav_put_float(buf, 40, z_pos);
 203     _mav_put_float(buf, 44, airspeed);
 204     _mav_put_float(buf, 88, roll_rate);
 205     _mav_put_float(buf, 92, pitch_rate);
 206     _mav_put_float(buf, 96, yaw_rate);
 207     _mav_put_float_array(buf, 48, vel_variance, 3);
 208     _mav_put_float_array(buf, 60, pos_variance, 3);
 209     _mav_put_float_array(buf, 72, q, 4);
 210         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 211 #else
 212     mavlink_control_system_state_t packet;
 213     packet.time_usec = time_usec;
 214     packet.x_acc = x_acc;
 215     packet.y_acc = y_acc;
 216     packet.z_acc = z_acc;
 217     packet.x_vel = x_vel;
 218     packet.y_vel = y_vel;
 219     packet.z_vel = z_vel;
 220     packet.x_pos = x_pos;
 221     packet.y_pos = y_pos;
 222     packet.z_pos = z_pos;
 223     packet.airspeed = airspeed;
 224     packet.roll_rate = roll_rate;
 225     packet.pitch_rate = pitch_rate;
 226     packet.yaw_rate = yaw_rate;
 227     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 228     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 229     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 230         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 231 #endif
 232
 233     msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
 234     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 235 }
 236
 237 /**
 238  * @brief Encode a control_system_state struct
 239  *
 240  * @param system_id ID of this system
 241  * @param component_id ID of this component (e.g. 200 for IMU)
 242  * @param msg The MAVLink message to compress the data into
 243  * @param control_system_state C-struct to read the message contents from
 244  */
 245 static inline uint16_t mavlink_msg_control_system_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
 246 {
 247     return mavlink_msg_control_system_state_pack(system_id, component_id, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 248 }
 249
 250 /**
 251  * @brief Encode a control_system_state struct on a channel
 252  *
 253  * @param system_id ID of this system
 254  * @param component_id ID of this component (e.g. 200 for IMU)
 255  * @param chan The MAVLink channel this message will be sent over
 256  * @param msg The MAVLink message to compress the data into
 257  * @param control_system_state C-struct to read the message contents from
 258  */
 259 static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
 260 {
 261     return mavlink_msg_control_system_state_pack_chan(system_id, component_id, chan, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 262 }
 263
 264 /**
 265  * @brief Send a control_system_state message
 266  * @param chan MAVLink channel to send the message
 267  *
 268  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 269  * @param x_acc [m/s/s] X acceleration in body frame
 270  * @param y_acc [m/s/s] Y acceleration in body frame
 271  * @param z_acc [m/s/s] Z acceleration in body frame
 272  * @param x_vel [m/s] X velocity in body frame
 273  * @param y_vel [m/s] Y velocity in body frame
 274  * @param z_vel [m/s] Z velocity in body frame
 275  * @param x_pos [m] X position in local frame
 276  * @param y_pos [m] Y position in local frame
 277  * @param z_pos [m] Z position in local frame
 278  * @param airspeed [m/s] Airspeed, set to -1 if unknown
 279  * @param vel_variance  Variance of body velocity estimate
 280  * @param pos_variance  Variance in local position
 281  * @param q  The attitude, represented as Quaternion
 282  * @param roll_rate [rad/s] Angular rate in roll axis
 283  * @param pitch_rate [rad/s] Angular rate in pitch axis
 284  * @param yaw_rate [rad/s] Angular rate in yaw axis
 285  */
 286 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 287
 288 static inline void mavlink_msg_control_system_state_send(mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 289 {
 290 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 291     char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
 292     _mav_put_uint64_t(buf, 0, time_usec);
 293     _mav_put_float(buf, 8, x_acc);
 294     _mav_put_float(buf, 12, y_acc);
 295     _mav_put_float(buf, 16, z_acc);
 296     _mav_put_float(buf, 20, x_vel);
 297     _mav_put_float(buf, 24, y_vel);
 298     _mav_put_float(buf, 28, z_vel);
 299     _mav_put_float(buf, 32, x_pos);
 300     _mav_put_float(buf, 36, y_pos);
 301     _mav_put_float(buf, 40, z_pos);
 302     _mav_put_float(buf, 44, airspeed);
 303     _mav_put_float(buf, 88, roll_rate);
 304     _mav_put_float(buf, 92, pitch_rate);
 305     _mav_put_float(buf, 96, yaw_rate);
 306     _mav_put_float_array(buf, 48, vel_variance, 3);
 307     _mav_put_float_array(buf, 60, pos_variance, 3);
 308     _mav_put_float_array(buf, 72, q, 4);
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 310 #else
 311     mavlink_control_system_state_t packet;
 312     packet.time_usec = time_usec;
 313     packet.x_acc = x_acc;
 314     packet.y_acc = y_acc;
 315     packet.z_acc = z_acc;
 316     packet.x_vel = x_vel;
 317     packet.y_vel = y_vel;
 318     packet.z_vel = z_vel;
 319     packet.x_pos = x_pos;
 320     packet.y_pos = y_pos;
 321     packet.z_pos = z_pos;
 322     packet.airspeed = airspeed;
 323     packet.roll_rate = roll_rate;
 324     packet.pitch_rate = pitch_rate;
 325     packet.yaw_rate = yaw_rate;
 326     mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
 327     mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
 328     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 330 #endif
 331 }
 332
 333 /**
 334  * @brief Send a control_system_state message
 335  * @param chan MAVLink channel to send the message
 336  * @param struct The MAVLink struct to serialize
 337  */
 338 static inline void mavlink_msg_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state)
 339 {
 340 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 341     mavlink_msg_control_system_state_send(chan, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
 342 #else
 343     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)control_system_state, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 344 #endif
 345 }
 346
 347 #if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 348 /*
 349   This varient of _send() can be used to save stack space by re-using
 350   memory from the receive buffer.  The caller provides a
 351   mavlink_message_t which is the size of a full mavlink message. This
 352   is usually the receive buffer for the channel, and allows a reply to an
 353   incoming message with minimum stack space usage.
 354  */
 355 static inline void mavlink_msg_control_system_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
 356 {
 357 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 358     char *buf = (char *)msgbuf;
 359     _mav_put_uint64_t(buf, 0, time_usec);
 360     _mav_put_float(buf, 8, x_acc);
 361     _mav_put_float(buf, 12, y_acc);
 362     _mav_put_float(buf, 16, z_acc);
 363     _mav_put_float(buf, 20, x_vel);
 364     _mav_put_float(buf, 24, y_vel);
 365     _mav_put_float(buf, 28, z_vel);
 366     _mav_put_float(buf, 32, x_pos);
 367     _mav_put_float(buf, 36, y_pos);
 368     _mav_put_float(buf, 40, z_pos);
 369     _mav_put_float(buf, 44, airspeed);
 370     _mav_put_float(buf, 88, roll_rate);
 371     _mav_put_float(buf, 92, pitch_rate);
 372     _mav_put_float(buf, 96, yaw_rate);
 373     _mav_put_float_array(buf, 48, vel_variance, 3);
 374     _mav_put_float_array(buf, 60, pos_variance, 3);
 375     _mav_put_float_array(buf, 72, q, 4);
 376     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 377 #else
 378     mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf;
 379     packet->time_usec = time_usec;
 380     packet->x_acc = x_acc;
 381     packet->y_acc = y_acc;
 382     packet->z_acc = z_acc;
 383     packet->x_vel = x_vel;
 384     packet->y_vel = y_vel;
 385     packet->z_vel = z_vel;
 386     packet->x_pos = x_pos;
 387     packet->y_pos = y_pos;
 388     packet->z_pos = z_pos;
 389     packet->airspeed = airspeed;
 390     packet->roll_rate = roll_rate;
 391     packet->pitch_rate = pitch_rate;
 392     packet->yaw_rate = yaw_rate;
 393     mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3);
 394     mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3);
 395     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 396     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
 397 #endif
 398 }
 399 #endif
 400
 401 #endif
 402
 403 // MESSAGE CONTROL_SYSTEM_STATE UNPACKING
 404
 405
 406 /**
 407  * @brief Get field time_usec from control_system_state message
 408  *
 409  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 410  */
 411 static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg)
 412 {
 413     return _MAV_RETURN_uint64_t(msg,  0);
 414 }
 415
 416 /**
 417  * @brief Get field x_acc from control_system_state message
 418  *
 419  * @return [m/s/s] X acceleration in body frame
 420  */
 421 static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg)
 422 {
 423     return _MAV_RETURN_float(msg,  8);
 424 }
 425
 426 /**
 427  * @brief Get field y_acc from control_system_state message
 428  *
 429  * @return [m/s/s] Y acceleration in body frame
 430  */
 431 static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg)
 432 {
 433     return _MAV_RETURN_float(msg,  12);
 434 }
 435
 436 /**
 437  * @brief Get field z_acc from control_system_state message
 438  *
 439  * @return [m/s/s] Z acceleration in body frame
 440  */
 441 static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg)
 442 {
 443     return _MAV_RETURN_float(msg,  16);
 444 }
 445
 446 /**
 447  * @brief Get field x_vel from control_system_state message
 448  *
 449  * @return [m/s] X velocity in body frame
 450  */
 451 static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg)
 452 {
 453     return _MAV_RETURN_float(msg,  20);
 454 }
 455
 456 /**
 457  * @brief Get field y_vel from control_system_state message
 458  *
 459  * @return [m/s] Y velocity in body frame
 460  */
 461 static inline float mavlink_msg_control_system_state_get_y_vel(const mavlink_message_t* msg)
 462 {
 463     return _MAV_RETURN_float(msg,  24);
 464 }
 465
 466 /**
 467  * @brief Get field z_vel from control_system_state message
 468  *
 469  * @return [m/s] Z velocity in body frame
 470  */
 471 static inline float mavlink_msg_control_system_state_get_z_vel(const mavlink_message_t* msg)
 472 {
 473     return _MAV_RETURN_float(msg,  28);
 474 }
 475
 476 /**
 477  * @brief Get field x_pos from control_system_state message
 478  *
 479  * @return [m] X position in local frame
 480  */
 481 static inline float mavlink_msg_control_system_state_get_x_pos(const mavlink_message_t* msg)
 482 {
 483     return _MAV_RETURN_float(msg,  32);
 484 }
 485
 486 /**
 487  * @brief Get field y_pos from control_system_state message
 488  *
 489  * @return [m] Y position in local frame
 490  */
 491 static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg)
 492 {
 493     return _MAV_RETURN_float(msg,  36);
 494 }
 495
 496 /**
 497  * @brief Get field z_pos from control_system_state message
 498  *
 499  * @return [m] Z position in local frame
 500  */
 501 static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg)
 502 {
 503     return _MAV_RETURN_float(msg,  40);
 504 }
 505
 506 /**
 507  * @brief Get field airspeed from control_system_state message
 508  *
 509  * @return [m/s] Airspeed, set to -1 if unknown
 510  */
 511 static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg)
 512 {
 513     return _MAV_RETURN_float(msg,  44);
 514 }
 515
 516 /**
 517  * @brief Get field vel_variance from control_system_state message
 518  *
 519  * @return  Variance of body velocity estimate
 520  */
 521 static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance)
 522 {
 523     return _MAV_RETURN_float_array(msg, vel_variance, 3,  48);
 524 }
 525
 526 /**
 527  * @brief Get field pos_variance from control_system_state message
 528  *
 529  * @return  Variance in local position
 530  */
 531 static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance)
 532 {
 533     return _MAV_RETURN_float_array(msg, pos_variance, 3,  60);
 534 }
 535
 536 /**
 537  * @brief Get field q from control_system_state message
 538  *
 539  * @return  The attitude, represented as Quaternion
 540  */
 541 static inline uint16_t mavlink_msg_control_system_state_get_q(const mavlink_message_t* msg, float *q)
 542 {
 543     return _MAV_RETURN_float_array(msg, q, 4,  72);
 544 }
 545
 546 /**
 547  * @brief Get field roll_rate from control_system_state message
 548  *
 549  * @return [rad/s] Angular rate in roll axis
 550  */
 551 static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg)
 552 {
 553     return _MAV_RETURN_float(msg,  88);
 554 }
 555
 556 /**
 557  * @brief Get field pitch_rate from control_system_state message
 558  *
 559  * @return [rad/s] Angular rate in pitch axis
 560  */
 561 static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg)
 562 {
 563     return _MAV_RETURN_float(msg,  92);
 564 }
 565
 566 /**
 567  * @brief Get field yaw_rate from control_system_state message
 568  *
 569  * @return [rad/s] Angular rate in yaw axis
 570  */
 571 static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg)
 572 {
 573     return _MAV_RETURN_float(msg,  96);
 574 }
 575
 576 /**
 577  * @brief Decode a control_system_state message into a struct
 578  *
 579  * @param msg The message to decode
 580  * @param control_system_state C-struct to decode the message contents into
 581  */
 582 static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state)
 583 {
 584 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 585     control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg);
 586     control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg);
 587     control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg);
 588     control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg);
 589     control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg);
 590     control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg);
 591     control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg);
 592     control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg);
 593     control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg);
 594     control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg);
 595     control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg);
 596     mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance);
 597     mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance);
 598     mavlink_msg_control_system_state_get_q(msg, control_system_state->q);
 599     control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg);
 600     control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg);
 601     control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg);
 602 #else
 603         uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN;
 604         memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
 605     memcpy(control_system_state, _MAV_PAYLOAD(msg), len);
 606 #endif
 607 }