lib/main/MAVLink/common/mavlink_msg_position_target_local_ned.h

   1 #pragma once
   2 // MESSAGE POSITION_TARGET_LOCAL_NED PACKING
   3
   4 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED 85
   5
   6
   7 typedef struct __mavlink_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 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*/
  22 } mavlink_position_target_local_ned_t;
  23
  24 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN 51
  25 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN 51
  26 #define MAVLINK_MSG_ID_85_LEN 51
  27 #define MAVLINK_MSG_ID_85_MIN_LEN 51
  28
  29 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC 140
  30 #define MAVLINK_MSG_ID_85_CRC 140
  31
  32
  33
  34 #if MAVLINK_COMMAND_24BIT
  35 #define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \
  36     85, \
  37     "POSITION_TARGET_LOCAL_NED", \
  38     14, \
  39     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \
  40          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \
  41          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \
  42          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \
  43          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \
  44          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \
  45          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \
  46          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \
  47          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \
  48          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \
  49          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \
  50          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \
  51          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \
  52          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \
  53          } \
  54 }
  55 #else
  56 #define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \
  57     "POSITION_TARGET_LOCAL_NED", \
  58     14, \
  59     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \
  60          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \
  61          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \
  62          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \
  63          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \
  64          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \
  65          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \
  66          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \
  67          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \
  68          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \
  69          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \
  70          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \
  71          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \
  72          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \
  73          } \
  74 }
  75 #endif
  76
  77 /**
  78  * @brief Pack a position_target_local_ned message
  79  * @param system_id ID of this system
  80  * @param component_id ID of this component (e.g. 200 for IMU)
  81  * @param msg The MAVLink message to compress the data into
  82  *
  83  * @param time_boot_ms [ms] Timestamp (time since system boot).
  84  * @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
  85  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
  86  * @param x [m] X Position in NED frame
  87  * @param y [m] Y Position in NED frame
  88  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
  89  * @param vx [m/s] X velocity in NED frame
  90  * @param vy [m/s] Y velocity in NED frame
  91  * @param vz [m/s] Z velocity in NED frame
  92  * @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
  93  * @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
  94  * @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
  95  * @param yaw [rad] yaw setpoint
  96  * @param yaw_rate [rad/s] yaw rate setpoint
  97  * @return length of the message in bytes (excluding serial stream start sign)
  98  */
  99 static inline uint16_t mavlink_msg_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 100                                uint32_t time_boot_ms, 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)
 101 {
 102 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 103     char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
 104     _mav_put_uint32_t(buf, 0, time_boot_ms);
 105     _mav_put_float(buf, 4, x);
 106     _mav_put_float(buf, 8, y);
 107     _mav_put_float(buf, 12, z);
 108     _mav_put_float(buf, 16, vx);
 109     _mav_put_float(buf, 20, vy);
 110     _mav_put_float(buf, 24, vz);
 111     _mav_put_float(buf, 28, afx);
 112     _mav_put_float(buf, 32, afy);
 113     _mav_put_float(buf, 36, afz);
 114     _mav_put_float(buf, 40, yaw);
 115     _mav_put_float(buf, 44, yaw_rate);
 116     _mav_put_uint16_t(buf, 48, type_mask);
 117     _mav_put_uint8_t(buf, 50, coordinate_frame);
 118
 119         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
 120 #else
 121     mavlink_position_target_local_ned_t packet;
 122     packet.time_boot_ms = time_boot_ms;
 123     packet.x = x;
 124     packet.y = y;
 125     packet.z = z;
 126     packet.vx = vx;
 127     packet.vy = vy;
 128     packet.vz = vz;
 129     packet.afx = afx;
 130     packet.afy = afy;
 131     packet.afz = afz;
 132     packet.yaw = yaw;
 133     packet.yaw_rate = yaw_rate;
 134     packet.type_mask = type_mask;
 135     packet.coordinate_frame = coordinate_frame;
 136
 137         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
 138 #endif
 139
 140     msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
 141     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 142 }
 143
 144 /**
 145  * @brief Pack a position_target_local_ned message on a channel
 146  * @param system_id ID of this system
 147  * @param component_id ID of this component (e.g. 200 for IMU)
 148  * @param chan The MAVLink channel this message will be sent over
 149  * @param msg The MAVLink message to compress the data into
 150  * @param time_boot_ms [ms] Timestamp (time since system boot).
 151  * @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
 152  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 153  * @param x [m] X Position in NED frame
 154  * @param y [m] Y Position in NED frame
 155  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
 156  * @param vx [m/s] X velocity in NED frame
 157  * @param vy [m/s] Y velocity in NED frame
 158  * @param vz [m/s] Z velocity in NED frame
 159  * @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
 160  * @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
 161  * @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
 162  * @param yaw [rad] yaw setpoint
 163  * @param yaw_rate [rad/s] yaw rate setpoint
 164  * @return length of the message in bytes (excluding serial stream start sign)
 165  */
 166 static inline uint16_t mavlink_msg_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 167                                mavlink_message_t* msg,
 168                                    uint32_t time_boot_ms,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)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171     char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
 172     _mav_put_uint32_t(buf, 0, time_boot_ms);
 173     _mav_put_float(buf, 4, x);
 174     _mav_put_float(buf, 8, y);
 175     _mav_put_float(buf, 12, z);
 176     _mav_put_float(buf, 16, vx);
 177     _mav_put_float(buf, 20, vy);
 178     _mav_put_float(buf, 24, vz);
 179     _mav_put_float(buf, 28, afx);
 180     _mav_put_float(buf, 32, afy);
 181     _mav_put_float(buf, 36, afz);
 182     _mav_put_float(buf, 40, yaw);
 183     _mav_put_float(buf, 44, yaw_rate);
 184     _mav_put_uint16_t(buf, 48, type_mask);
 185     _mav_put_uint8_t(buf, 50, coordinate_frame);
 186
 187         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
 188 #else
 189     mavlink_position_target_local_ned_t packet;
 190     packet.time_boot_ms = time_boot_ms;
 191     packet.x = x;
 192     packet.y = y;
 193     packet.z = z;
 194     packet.vx = vx;
 195     packet.vy = vy;
 196     packet.vz = vz;
 197     packet.afx = afx;
 198     packet.afy = afy;
 199     packet.afz = afz;
 200     packet.yaw = yaw;
 201     packet.yaw_rate = yaw_rate;
 202     packet.type_mask = type_mask;
 203     packet.coordinate_frame = coordinate_frame;
 204
 205         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
 206 #endif
 207
 208     msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
 209     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 210 }
 211
 212 /**
 213  * @brief Encode a position_target_local_ned struct
 214  *
 215  * @param system_id ID of this system
 216  * @param component_id ID of this component (e.g. 200 for IMU)
 217  * @param msg The MAVLink message to compress the data into
 218  * @param position_target_local_ned C-struct to read the message contents from
 219  */
 220 static inline uint16_t mavlink_msg_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
 221 {
 222     return mavlink_msg_position_target_local_ned_pack(system_id, component_id, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
 223 }
 224
 225 /**
 226  * @brief Encode a position_target_local_ned struct on a channel
 227  *
 228  * @param system_id ID of this system
 229  * @param component_id ID of this component (e.g. 200 for IMU)
 230  * @param chan The MAVLink channel this message will be sent over
 231  * @param msg The MAVLink message to compress the data into
 232  * @param position_target_local_ned C-struct to read the message contents from
 233  */
 234 static inline uint16_t mavlink_msg_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
 235 {
 236     return mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
 237 }
 238
 239 /**
 240  * @brief Send a position_target_local_ned message
 241  * @param chan MAVLink channel to send the message
 242  *
 243  * @param time_boot_ms [ms] Timestamp (time since system boot).
 244  * @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
 245  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 246  * @param x [m] X Position in NED frame
 247  * @param y [m] Y Position in NED frame
 248  * @param z [m] Z Position in NED frame (note, altitude is negative in NED)
 249  * @param vx [m/s] X velocity in NED frame
 250  * @param vy [m/s] Y velocity in NED frame
 251  * @param vz [m/s] Z velocity in NED frame
 252  * @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
 253  * @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
 254  * @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
 255  * @param yaw [rad] yaw setpoint
 256  * @param yaw_rate [rad/s] yaw rate setpoint
 257  */
 258 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 259
 260 static inline void mavlink_msg_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, 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)
 261 {
 262 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 263     char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN];
 264     _mav_put_uint32_t(buf, 0, time_boot_ms);
 265     _mav_put_float(buf, 4, x);
 266     _mav_put_float(buf, 8, y);
 267     _mav_put_float(buf, 12, z);
 268     _mav_put_float(buf, 16, vx);
 269     _mav_put_float(buf, 20, vy);
 270     _mav_put_float(buf, 24, vz);
 271     _mav_put_float(buf, 28, afx);
 272     _mav_put_float(buf, 32, afy);
 273     _mav_put_float(buf, 36, afz);
 274     _mav_put_float(buf, 40, yaw);
 275     _mav_put_float(buf, 44, yaw_rate);
 276     _mav_put_uint16_t(buf, 48, type_mask);
 277     _mav_put_uint8_t(buf, 50, coordinate_frame);
 278
 279     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 280 #else
 281     mavlink_position_target_local_ned_t packet;
 282     packet.time_boot_ms = time_boot_ms;
 283     packet.x = x;
 284     packet.y = y;
 285     packet.z = z;
 286     packet.vx = vx;
 287     packet.vy = vy;
 288     packet.vz = vz;
 289     packet.afx = afx;
 290     packet.afy = afy;
 291     packet.afz = afz;
 292     packet.yaw = yaw;
 293     packet.yaw_rate = yaw_rate;
 294     packet.type_mask = type_mask;
 295     packet.coordinate_frame = coordinate_frame;
 296
 297     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 298 #endif
 299 }
 300
 301 /**
 302  * @brief Send a position_target_local_ned message
 303  * @param chan MAVLink channel to send the message
 304  * @param struct The MAVLink struct to serialize
 305  */
 306 static inline void mavlink_msg_position_target_local_ned_send_struct(mavlink_channel_t chan, const mavlink_position_target_local_ned_t* position_target_local_ned)
 307 {
 308 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 309     mavlink_msg_position_target_local_ned_send(chan, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
 310 #else
 311     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)position_target_local_ned, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 312 #endif
 313 }
 314
 315 #if MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 316 /*
 317   This varient of _send() can be used to save stack space by re-using
 318   memory from the receive buffer.  The caller provides a
 319   mavlink_message_t which is the size of a full mavlink message. This
 320   is usually the receive buffer for the channel, and allows a reply to an
 321   incoming message with minimum stack space usage.
 322  */
 323 static inline void mavlink_msg_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, 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)
 324 {
 325 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 326     char *buf = (char *)msgbuf;
 327     _mav_put_uint32_t(buf, 0, time_boot_ms);
 328     _mav_put_float(buf, 4, x);
 329     _mav_put_float(buf, 8, y);
 330     _mav_put_float(buf, 12, z);
 331     _mav_put_float(buf, 16, vx);
 332     _mav_put_float(buf, 20, vy);
 333     _mav_put_float(buf, 24, vz);
 334     _mav_put_float(buf, 28, afx);
 335     _mav_put_float(buf, 32, afy);
 336     _mav_put_float(buf, 36, afz);
 337     _mav_put_float(buf, 40, yaw);
 338     _mav_put_float(buf, 44, yaw_rate);
 339     _mav_put_uint16_t(buf, 48, type_mask);
 340     _mav_put_uint8_t(buf, 50, coordinate_frame);
 341
 342     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 343 #else
 344     mavlink_position_target_local_ned_t *packet = (mavlink_position_target_local_ned_t *)msgbuf;
 345     packet->time_boot_ms = time_boot_ms;
 346     packet->x = x;
 347     packet->y = y;
 348     packet->z = z;
 349     packet->vx = vx;
 350     packet->vy = vy;
 351     packet->vz = vz;
 352     packet->afx = afx;
 353     packet->afy = afy;
 354     packet->afz = afz;
 355     packet->yaw = yaw;
 356     packet->yaw_rate = yaw_rate;
 357     packet->type_mask = type_mask;
 358     packet->coordinate_frame = coordinate_frame;
 359
 360     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
 361 #endif
 362 }
 363 #endif
 364
 365 #endif
 366
 367 // MESSAGE POSITION_TARGET_LOCAL_NED UNPACKING
 368
 369
 370 /**
 371  * @brief Get field time_boot_ms from position_target_local_ned message
 372  *
 373  * @return [ms] Timestamp (time since system boot).
 374  */
 375 static inline uint32_t mavlink_msg_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
 376 {
 377     return _MAV_RETURN_uint32_t(msg,  0);
 378 }
 379
 380 /**
 381  * @brief Get field coordinate_frame from position_target_local_ned message
 382  *
 383  * @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
 384  */
 385 static inline uint8_t mavlink_msg_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
 386 {
 387     return _MAV_RETURN_uint8_t(msg,  50);
 388 }
 389
 390 /**
 391  * @brief Get field type_mask from position_target_local_ned message
 392  *
 393  * @return  Bitmap to indicate which dimensions should be ignored by the vehicle.
 394  */
 395 static inline uint16_t mavlink_msg_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
 396 {
 397     return _MAV_RETURN_uint16_t(msg,  48);
 398 }
 399
 400 /**
 401  * @brief Get field x from position_target_local_ned message
 402  *
 403  * @return [m] X Position in NED frame
 404  */
 405 static inline float mavlink_msg_position_target_local_ned_get_x(const mavlink_message_t* msg)
 406 {
 407     return _MAV_RETURN_float(msg,  4);
 408 }
 409
 410 /**
 411  * @brief Get field y from position_target_local_ned message
 412  *
 413  * @return [m] Y Position in NED frame
 414  */
 415 static inline float mavlink_msg_position_target_local_ned_get_y(const mavlink_message_t* msg)
 416 {
 417     return _MAV_RETURN_float(msg,  8);
 418 }
 419
 420 /**
 421  * @brief Get field z from position_target_local_ned message
 422  *
 423  * @return [m] Z Position in NED frame (note, altitude is negative in NED)
 424  */
 425 static inline float mavlink_msg_position_target_local_ned_get_z(const mavlink_message_t* msg)
 426 {
 427     return _MAV_RETURN_float(msg,  12);
 428 }
 429
 430 /**
 431  * @brief Get field vx from position_target_local_ned message
 432  *
 433  * @return [m/s] X velocity in NED frame
 434  */
 435 static inline float mavlink_msg_position_target_local_ned_get_vx(const mavlink_message_t* msg)
 436 {
 437     return _MAV_RETURN_float(msg,  16);
 438 }
 439
 440 /**
 441  * @brief Get field vy from position_target_local_ned message
 442  *
 443  * @return [m/s] Y velocity in NED frame
 444  */
 445 static inline float mavlink_msg_position_target_local_ned_get_vy(const mavlink_message_t* msg)
 446 {
 447     return _MAV_RETURN_float(msg,  20);
 448 }
 449
 450 /**
 451  * @brief Get field vz from position_target_local_ned message
 452  *
 453  * @return [m/s] Z velocity in NED frame
 454  */
 455 static inline float mavlink_msg_position_target_local_ned_get_vz(const mavlink_message_t* msg)
 456 {
 457     return _MAV_RETURN_float(msg,  24);
 458 }
 459
 460 /**
 461  * @brief Get field afx from position_target_local_ned message
 462  *
 463  * @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
 464  */
 465 static inline float mavlink_msg_position_target_local_ned_get_afx(const mavlink_message_t* msg)
 466 {
 467     return _MAV_RETURN_float(msg,  28);
 468 }
 469
 470 /**
 471  * @brief Get field afy from position_target_local_ned message
 472  *
 473  * @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
 474  */
 475 static inline float mavlink_msg_position_target_local_ned_get_afy(const mavlink_message_t* msg)
 476 {
 477     return _MAV_RETURN_float(msg,  32);
 478 }
 479
 480 /**
 481  * @brief Get field afz from position_target_local_ned message
 482  *
 483  * @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
 484  */
 485 static inline float mavlink_msg_position_target_local_ned_get_afz(const mavlink_message_t* msg)
 486 {
 487     return _MAV_RETURN_float(msg,  36);
 488 }
 489
 490 /**
 491  * @brief Get field yaw from position_target_local_ned message
 492  *
 493  * @return [rad] yaw setpoint
 494  */
 495 static inline float mavlink_msg_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
 496 {
 497     return _MAV_RETURN_float(msg,  40);
 498 }
 499
 500 /**
 501  * @brief Get field yaw_rate from position_target_local_ned message
 502  *
 503  * @return [rad/s] yaw rate setpoint
 504  */
 505 static inline float mavlink_msg_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
 506 {
 507     return _MAV_RETURN_float(msg,  44);
 508 }
 509
 510 /**
 511  * @brief Decode a position_target_local_ned message into a struct
 512  *
 513  * @param msg The message to decode
 514  * @param position_target_local_ned C-struct to decode the message contents into
 515  */
 516 static inline void mavlink_msg_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_position_target_local_ned_t* position_target_local_ned)
 517 {
 518 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 519     position_target_local_ned->time_boot_ms = mavlink_msg_position_target_local_ned_get_time_boot_ms(msg);
 520     position_target_local_ned->x = mavlink_msg_position_target_local_ned_get_x(msg);
 521     position_target_local_ned->y = mavlink_msg_position_target_local_ned_get_y(msg);
 522     position_target_local_ned->z = mavlink_msg_position_target_local_ned_get_z(msg);
 523     position_target_local_ned->vx = mavlink_msg_position_target_local_ned_get_vx(msg);
 524     position_target_local_ned->vy = mavlink_msg_position_target_local_ned_get_vy(msg);
 525     position_target_local_ned->vz = mavlink_msg_position_target_local_ned_get_vz(msg);
 526     position_target_local_ned->afx = mavlink_msg_position_target_local_ned_get_afx(msg);
 527     position_target_local_ned->afy = mavlink_msg_position_target_local_ned_get_afy(msg);
 528     position_target_local_ned->afz = mavlink_msg_position_target_local_ned_get_afz(msg);
 529     position_target_local_ned->yaw = mavlink_msg_position_target_local_ned_get_yaw(msg);
 530     position_target_local_ned->yaw_rate = mavlink_msg_position_target_local_ned_get_yaw_rate(msg);
 531     position_target_local_ned->type_mask = mavlink_msg_position_target_local_ned_get_type_mask(msg);
 532     position_target_local_ned->coordinate_frame = mavlink_msg_position_target_local_ned_get_coordinate_frame(msg);
 533 #else
 534         uint8_t len = msg->len < MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN? msg->len : MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN;
 535         memset(position_target_local_ned, 0, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
 536     memcpy(position_target_local_ned, _MAV_PAYLOAD(msg), len);
 537 #endif
 538 }