lib/main/MAVLink/common/mavlink_msg_set_attitude_target.h

   1 #pragma once
   2 // MESSAGE SET_ATTITUDE_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 82
   5
   6
   7 typedef struct __mavlink_set_attitude_target_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  float q[4]; /*<  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
  10  float body_roll_rate; /*< [rad/s] Body roll rate*/
  11  float body_pitch_rate; /*< [rad/s] Body pitch rate*/
  12  float body_yaw_rate; /*< [rad/s] Body yaw rate*/
  13  float thrust; /*<  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
  14  uint8_t target_system; /*<  System ID*/
  15  uint8_t target_component; /*<  Component ID*/
  16  uint8_t type_mask; /*<  Bitmap to indicate which dimensions should be ignored by the vehicle.*/
  17 } mavlink_set_attitude_target_t;
  18
  19 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN 39
  20 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN 39
  21 #define MAVLINK_MSG_ID_82_LEN 39
  22 #define MAVLINK_MSG_ID_82_MIN_LEN 39
  23
  24 #define MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC 49
  25 #define MAVLINK_MSG_ID_82_CRC 49
  26
  27 #define MAVLINK_MSG_SET_ATTITUDE_TARGET_FIELD_Q_LEN 4
  28
  29 #if MAVLINK_COMMAND_24BIT
  30 #define MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET { \
  31     82, \
  32     "SET_ATTITUDE_TARGET", \
  33     9, \
  34     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_attitude_target_t, time_boot_ms) }, \
  35          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_set_attitude_target_t, target_system) }, \
  36          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_set_attitude_target_t, target_component) }, \
  37          { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_attitude_target_t, type_mask) }, \
  38          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_set_attitude_target_t, q) }, \
  39          { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_attitude_target_t, body_roll_rate) }, \
  40          { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_attitude_target_t, body_pitch_rate) }, \
  41          { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_attitude_target_t, body_yaw_rate) }, \
  42          { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_attitude_target_t, thrust) }, \
  43          } \
  44 }
  45 #else
  46 #define MAVLINK_MESSAGE_INFO_SET_ATTITUDE_TARGET { \
  47     "SET_ATTITUDE_TARGET", \
  48     9, \
  49     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_attitude_target_t, time_boot_ms) }, \
  50          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_set_attitude_target_t, target_system) }, \
  51          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 37, offsetof(mavlink_set_attitude_target_t, target_component) }, \
  52          { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_set_attitude_target_t, type_mask) }, \
  53          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_set_attitude_target_t, q) }, \
  54          { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_attitude_target_t, body_roll_rate) }, \
  55          { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_attitude_target_t, body_pitch_rate) }, \
  56          { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_attitude_target_t, body_yaw_rate) }, \
  57          { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_attitude_target_t, thrust) }, \
  58          } \
  59 }
  60 #endif
  61
  62 /**
  63  * @brief Pack a set_attitude_target message
  64  * @param system_id ID of this system
  65  * @param component_id ID of this component (e.g. 200 for IMU)
  66  * @param msg The MAVLink message to compress the data into
  67  *
  68  * @param time_boot_ms [ms] Timestamp (time since system boot).
  69  * @param target_system  System ID
  70  * @param target_component  Component ID
  71  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
  72  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  73  * @param body_roll_rate [rad/s] Body roll rate
  74  * @param body_pitch_rate [rad/s] Body pitch rate
  75  * @param body_yaw_rate [rad/s] Body yaw rate
  76  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  77  * @return length of the message in bytes (excluding serial stream start sign)
  78  */
  79 static inline uint16_t mavlink_msg_set_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  80                                uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
  81 {
  82 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  83     char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN];
  84     _mav_put_uint32_t(buf, 0, time_boot_ms);
  85     _mav_put_float(buf, 20, body_roll_rate);
  86     _mav_put_float(buf, 24, body_pitch_rate);
  87     _mav_put_float(buf, 28, body_yaw_rate);
  88     _mav_put_float(buf, 32, thrust);
  89     _mav_put_uint8_t(buf, 36, target_system);
  90     _mav_put_uint8_t(buf, 37, target_component);
  91     _mav_put_uint8_t(buf, 38, type_mask);
  92     _mav_put_float_array(buf, 4, q, 4);
  93         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
  94 #else
  95     mavlink_set_attitude_target_t packet;
  96     packet.time_boot_ms = time_boot_ms;
  97     packet.body_roll_rate = body_roll_rate;
  98     packet.body_pitch_rate = body_pitch_rate;
  99     packet.body_yaw_rate = body_yaw_rate;
 100     packet.thrust = thrust;
 101     packet.target_system = target_system;
 102     packet.target_component = target_component;
 103     packet.type_mask = type_mask;
 104     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 105         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
 106 #endif
 107
 108     msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET;
 109     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 110 }
 111
 112 /**
 113  * @brief Pack a set_attitude_target message on a channel
 114  * @param system_id ID of this system
 115  * @param component_id ID of this component (e.g. 200 for IMU)
 116  * @param chan The MAVLink channel this message will be sent over
 117  * @param msg The MAVLink message to compress the data into
 118  * @param time_boot_ms [ms] Timestamp (time since system boot).
 119  * @param target_system  System ID
 120  * @param target_component  Component ID
 121  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 122  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 123  * @param body_roll_rate [rad/s] Body roll rate
 124  * @param body_pitch_rate [rad/s] Body pitch rate
 125  * @param body_yaw_rate [rad/s] Body yaw rate
 126  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 127  * @return length of the message in bytes (excluding serial stream start sign)
 128  */
 129 static inline uint16_t mavlink_msg_set_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 130                                mavlink_message_t* msg,
 131                                    uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
 132 {
 133 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 134     char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN];
 135     _mav_put_uint32_t(buf, 0, time_boot_ms);
 136     _mav_put_float(buf, 20, body_roll_rate);
 137     _mav_put_float(buf, 24, body_pitch_rate);
 138     _mav_put_float(buf, 28, body_yaw_rate);
 139     _mav_put_float(buf, 32, thrust);
 140     _mav_put_uint8_t(buf, 36, target_system);
 141     _mav_put_uint8_t(buf, 37, target_component);
 142     _mav_put_uint8_t(buf, 38, type_mask);
 143     _mav_put_float_array(buf, 4, q, 4);
 144         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
 145 #else
 146     mavlink_set_attitude_target_t packet;
 147     packet.time_boot_ms = time_boot_ms;
 148     packet.body_roll_rate = body_roll_rate;
 149     packet.body_pitch_rate = body_pitch_rate;
 150     packet.body_yaw_rate = body_yaw_rate;
 151     packet.thrust = thrust;
 152     packet.target_system = target_system;
 153     packet.target_component = target_component;
 154     packet.type_mask = type_mask;
 155     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 156         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
 157 #endif
 158
 159     msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET;
 160     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 161 }
 162
 163 /**
 164  * @brief Encode a set_attitude_target struct
 165  *
 166  * @param system_id ID of this system
 167  * @param component_id ID of this component (e.g. 200 for IMU)
 168  * @param msg The MAVLink message to compress the data into
 169  * @param set_attitude_target C-struct to read the message contents from
 170  */
 171 static inline uint16_t mavlink_msg_set_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
 172 {
 173     return mavlink_msg_set_attitude_target_pack(system_id, component_id, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust);
 174 }
 175
 176 /**
 177  * @brief Encode a set_attitude_target struct on a channel
 178  *
 179  * @param system_id ID of this system
 180  * @param component_id ID of this component (e.g. 200 for IMU)
 181  * @param chan The MAVLink channel this message will be sent over
 182  * @param msg The MAVLink message to compress the data into
 183  * @param set_attitude_target C-struct to read the message contents from
 184  */
 185 static inline uint16_t mavlink_msg_set_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
 186 {
 187     return mavlink_msg_set_attitude_target_pack_chan(system_id, component_id, chan, msg, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust);
 188 }
 189
 190 /**
 191  * @brief Send a set_attitude_target message
 192  * @param chan MAVLink channel to send the message
 193  *
 194  * @param time_boot_ms [ms] Timestamp (time since system boot).
 195  * @param target_system  System ID
 196  * @param target_component  Component ID
 197  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 198  * @param q  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 199  * @param body_roll_rate [rad/s] Body roll rate
 200  * @param body_pitch_rate [rad/s] Body pitch rate
 201  * @param body_yaw_rate [rad/s] Body yaw rate
 202  * @param thrust  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 203  */
 204 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 205
 206 static inline void mavlink_msg_set_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 207 {
 208 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 209     char buf[MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN];
 210     _mav_put_uint32_t(buf, 0, time_boot_ms);
 211     _mav_put_float(buf, 20, body_roll_rate);
 212     _mav_put_float(buf, 24, body_pitch_rate);
 213     _mav_put_float(buf, 28, body_yaw_rate);
 214     _mav_put_float(buf, 32, thrust);
 215     _mav_put_uint8_t(buf, 36, target_system);
 216     _mav_put_uint8_t(buf, 37, target_component);
 217     _mav_put_uint8_t(buf, 38, type_mask);
 218     _mav_put_float_array(buf, 4, q, 4);
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 220 #else
 221     mavlink_set_attitude_target_t packet;
 222     packet.time_boot_ms = time_boot_ms;
 223     packet.body_roll_rate = body_roll_rate;
 224     packet.body_pitch_rate = body_pitch_rate;
 225     packet.body_yaw_rate = body_yaw_rate;
 226     packet.thrust = thrust;
 227     packet.target_system = target_system;
 228     packet.target_component = target_component;
 229     packet.type_mask = type_mask;
 230     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 231     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 232 #endif
 233 }
 234
 235 /**
 236  * @brief Send a set_attitude_target message
 237  * @param chan MAVLink channel to send the message
 238  * @param struct The MAVLink struct to serialize
 239  */
 240 static inline void mavlink_msg_set_attitude_target_send_struct(mavlink_channel_t chan, const mavlink_set_attitude_target_t* set_attitude_target)
 241 {
 242 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 243     mavlink_msg_set_attitude_target_send(chan, set_attitude_target->time_boot_ms, set_attitude_target->target_system, set_attitude_target->target_component, set_attitude_target->type_mask, set_attitude_target->q, set_attitude_target->body_roll_rate, set_attitude_target->body_pitch_rate, set_attitude_target->body_yaw_rate, set_attitude_target->thrust);
 244 #else
 245     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)set_attitude_target, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 246 #endif
 247 }
 248
 249 #if MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 250 /*
 251   This varient of _send() can be used to save stack space by re-using
 252   memory from the receive buffer.  The caller provides a
 253   mavlink_message_t which is the size of a full mavlink message. This
 254   is usually the receive buffer for the channel, and allows a reply to an
 255   incoming message with minimum stack space usage.
 256  */
 257 static inline void mavlink_msg_set_attitude_target_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 type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
 258 {
 259 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 260     char *buf = (char *)msgbuf;
 261     _mav_put_uint32_t(buf, 0, time_boot_ms);
 262     _mav_put_float(buf, 20, body_roll_rate);
 263     _mav_put_float(buf, 24, body_pitch_rate);
 264     _mav_put_float(buf, 28, body_yaw_rate);
 265     _mav_put_float(buf, 32, thrust);
 266     _mav_put_uint8_t(buf, 36, target_system);
 267     _mav_put_uint8_t(buf, 37, target_component);
 268     _mav_put_uint8_t(buf, 38, type_mask);
 269     _mav_put_float_array(buf, 4, q, 4);
 270     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 271 #else
 272     mavlink_set_attitude_target_t *packet = (mavlink_set_attitude_target_t *)msgbuf;
 273     packet->time_boot_ms = time_boot_ms;
 274     packet->body_roll_rate = body_roll_rate;
 275     packet->body_pitch_rate = body_pitch_rate;
 276     packet->body_yaw_rate = body_yaw_rate;
 277     packet->thrust = thrust;
 278     packet->target_system = target_system;
 279     packet->target_component = target_component;
 280     packet->type_mask = type_mask;
 281     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 282     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
 283 #endif
 284 }
 285 #endif
 286
 287 #endif
 288
 289 // MESSAGE SET_ATTITUDE_TARGET UNPACKING
 290
 291
 292 /**
 293  * @brief Get field time_boot_ms from set_attitude_target message
 294  *
 295  * @return [ms] Timestamp (time since system boot).
 296  */
 297 static inline uint32_t mavlink_msg_set_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
 298 {
 299     return _MAV_RETURN_uint32_t(msg,  0);
 300 }
 301
 302 /**
 303  * @brief Get field target_system from set_attitude_target message
 304  *
 305  * @return  System ID
 306  */
 307 static inline uint8_t mavlink_msg_set_attitude_target_get_target_system(const mavlink_message_t* msg)
 308 {
 309     return _MAV_RETURN_uint8_t(msg,  36);
 310 }
 311
 312 /**
 313  * @brief Get field target_component from set_attitude_target message
 314  *
 315  * @return  Component ID
 316  */
 317 static inline uint8_t mavlink_msg_set_attitude_target_get_target_component(const mavlink_message_t* msg)
 318 {
 319     return _MAV_RETURN_uint8_t(msg,  37);
 320 }
 321
 322 /**
 323  * @brief Get field type_mask from set_attitude_target message
 324  *
 325  * @return  Bitmap to indicate which dimensions should be ignored by the vehicle.
 326  */
 327 static inline uint8_t mavlink_msg_set_attitude_target_get_type_mask(const mavlink_message_t* msg)
 328 {
 329     return _MAV_RETURN_uint8_t(msg,  38);
 330 }
 331
 332 /**
 333  * @brief Get field q from set_attitude_target message
 334  *
 335  * @return  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 336  */
 337 static inline uint16_t mavlink_msg_set_attitude_target_get_q(const mavlink_message_t* msg, float *q)
 338 {
 339     return _MAV_RETURN_float_array(msg, q, 4,  4);
 340 }
 341
 342 /**
 343  * @brief Get field body_roll_rate from set_attitude_target message
 344  *
 345  * @return [rad/s] Body roll rate
 346  */
 347 static inline float mavlink_msg_set_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
 348 {
 349     return _MAV_RETURN_float(msg,  20);
 350 }
 351
 352 /**
 353  * @brief Get field body_pitch_rate from set_attitude_target message
 354  *
 355  * @return [rad/s] Body pitch rate
 356  */
 357 static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
 358 {
 359     return _MAV_RETURN_float(msg,  24);
 360 }
 361
 362 /**
 363  * @brief Get field body_yaw_rate from set_attitude_target message
 364  *
 365  * @return [rad/s] Body yaw rate
 366  */
 367 static inline float mavlink_msg_set_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
 368 {
 369     return _MAV_RETURN_float(msg,  28);
 370 }
 371
 372 /**
 373  * @brief Get field thrust from set_attitude_target message
 374  *
 375  * @return  Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
 376  */
 377 static inline float mavlink_msg_set_attitude_target_get_thrust(const mavlink_message_t* msg)
 378 {
 379     return _MAV_RETURN_float(msg,  32);
 380 }
 381
 382 /**
 383  * @brief Decode a set_attitude_target message into a struct
 384  *
 385  * @param msg The message to decode
 386  * @param set_attitude_target C-struct to decode the message contents into
 387  */
 388 static inline void mavlink_msg_set_attitude_target_decode(const mavlink_message_t* msg, mavlink_set_attitude_target_t* set_attitude_target)
 389 {
 390 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 391     set_attitude_target->time_boot_ms = mavlink_msg_set_attitude_target_get_time_boot_ms(msg);
 392     mavlink_msg_set_attitude_target_get_q(msg, set_attitude_target->q);
 393     set_attitude_target->body_roll_rate = mavlink_msg_set_attitude_target_get_body_roll_rate(msg);
 394     set_attitude_target->body_pitch_rate = mavlink_msg_set_attitude_target_get_body_pitch_rate(msg);
 395     set_attitude_target->body_yaw_rate = mavlink_msg_set_attitude_target_get_body_yaw_rate(msg);
 396     set_attitude_target->thrust = mavlink_msg_set_attitude_target_get_thrust(msg);
 397     set_attitude_target->target_system = mavlink_msg_set_attitude_target_get_target_system(msg);
 398     set_attitude_target->target_component = mavlink_msg_set_attitude_target_get_target_component(msg);
 399     set_attitude_target->type_mask = mavlink_msg_set_attitude_target_get_type_mask(msg);
 400 #else
 401         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN;
 402         memset(set_attitude_target, 0, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
 403     memcpy(set_attitude_target, _MAV_PAYLOAD(msg), len);
 404 #endif
 405 }