lib/main/MAVLink/common/mavlink_msg_hil_state.h

   1 #pragma once
   2 // MESSAGE HIL_STATE PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_STATE 90
   5
   6
   7 typedef struct __mavlink_hil_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 roll; /*< [rad] Roll angle*/
  10  float pitch; /*< [rad] Pitch angle*/
  11  float yaw; /*< [rad] Yaw angle*/
  12  float rollspeed; /*< [rad/s] Body frame roll / phi angular speed*/
  13  float pitchspeed; /*< [rad/s] Body frame pitch / theta angular speed*/
  14  float yawspeed; /*< [rad/s] Body frame yaw / psi angular speed*/
  15  int32_t lat; /*< [degE7] Latitude*/
  16  int32_t lon; /*< [degE7] Longitude*/
  17  int32_t alt; /*< [mm] Altitude*/
  18  int16_t vx; /*< [cm/s] Ground X Speed (Latitude)*/
  19  int16_t vy; /*< [cm/s] Ground Y Speed (Longitude)*/
  20  int16_t vz; /*< [cm/s] Ground Z Speed (Altitude)*/
  21  int16_t xacc; /*< [mG] X acceleration*/
  22  int16_t yacc; /*< [mG] Y acceleration*/
  23  int16_t zacc; /*< [mG] Z acceleration*/
  24 } mavlink_hil_state_t;
  25
  26 #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
  27 #define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56
  28 #define MAVLINK_MSG_ID_90_LEN 56
  29 #define MAVLINK_MSG_ID_90_MIN_LEN 56
  30
  31 #define MAVLINK_MSG_ID_HIL_STATE_CRC 183
  32 #define MAVLINK_MSG_ID_90_CRC 183
  33
  34
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
  38     90, \
  39     "HIL_STATE", \
  40     16, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  42          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  43          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  44          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  45          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  46          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  47          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  48          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  49          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  50          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  51          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  52          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  53          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  54          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  55          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  56          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
  61     "HIL_STATE", \
  62     16, \
  63     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  64          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  65          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  66          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  67          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  68          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  69          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  70          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  71          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  72          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  73          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  74          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  75          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  76          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  77          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  78          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a hil_state 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_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.
  90  * @param roll [rad] Roll angle
  91  * @param pitch [rad] Pitch angle
  92  * @param yaw [rad] Yaw angle
  93  * @param rollspeed [rad/s] Body frame roll / phi angular speed
  94  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
  95  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
  96  * @param lat [degE7] Latitude
  97  * @param lon [degE7] Longitude
  98  * @param alt [mm] Altitude
  99  * @param vx [cm/s] Ground X Speed (Latitude)
 100  * @param vy [cm/s] Ground Y Speed (Longitude)
 101  * @param vz [cm/s] Ground Z Speed (Altitude)
 102  * @param xacc [mG] X acceleration
 103  * @param yacc [mG] Y acceleration
 104  * @param zacc [mG] Z acceleration
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 112     _mav_put_uint64_t(buf, 0, time_usec);
 113     _mav_put_float(buf, 8, roll);
 114     _mav_put_float(buf, 12, pitch);
 115     _mav_put_float(buf, 16, yaw);
 116     _mav_put_float(buf, 20, rollspeed);
 117     _mav_put_float(buf, 24, pitchspeed);
 118     _mav_put_float(buf, 28, yawspeed);
 119     _mav_put_int32_t(buf, 32, lat);
 120     _mav_put_int32_t(buf, 36, lon);
 121     _mav_put_int32_t(buf, 40, alt);
 122     _mav_put_int16_t(buf, 44, vx);
 123     _mav_put_int16_t(buf, 46, vy);
 124     _mav_put_int16_t(buf, 48, vz);
 125     _mav_put_int16_t(buf, 50, xacc);
 126     _mav_put_int16_t(buf, 52, yacc);
 127     _mav_put_int16_t(buf, 54, zacc);
 128
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 130 #else
 131     mavlink_hil_state_t packet;
 132     packet.time_usec = time_usec;
 133     packet.roll = roll;
 134     packet.pitch = pitch;
 135     packet.yaw = yaw;
 136     packet.rollspeed = rollspeed;
 137     packet.pitchspeed = pitchspeed;
 138     packet.yawspeed = yawspeed;
 139     packet.lat = lat;
 140     packet.lon = lon;
 141     packet.alt = alt;
 142     packet.vx = vx;
 143     packet.vy = vy;
 144     packet.vz = vz;
 145     packet.xacc = xacc;
 146     packet.yacc = yacc;
 147     packet.zacc = zacc;
 148
 149         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 150 #endif
 151
 152     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 153     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 154 }
 155
 156 /**
 157  * @brief Pack a hil_state 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_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.
 163  * @param roll [rad] Roll angle
 164  * @param pitch [rad] Pitch angle
 165  * @param yaw [rad] Yaw angle
 166  * @param rollspeed [rad/s] Body frame roll / phi angular speed
 167  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 168  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 169  * @param lat [degE7] Latitude
 170  * @param lon [degE7] Longitude
 171  * @param alt [mm] Altitude
 172  * @param vx [cm/s] Ground X Speed (Latitude)
 173  * @param vy [cm/s] Ground Y Speed (Longitude)
 174  * @param vz [cm/s] Ground Z Speed (Altitude)
 175  * @param xacc [mG] X acceleration
 176  * @param yacc [mG] Y acceleration
 177  * @param zacc [mG] Z acceleration
 178  * @return length of the message in bytes (excluding serial stream start sign)
 179  */
 180 static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 181                                mavlink_message_t* msg,
 182                                    uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 186     _mav_put_uint64_t(buf, 0, time_usec);
 187     _mav_put_float(buf, 8, roll);
 188     _mav_put_float(buf, 12, pitch);
 189     _mav_put_float(buf, 16, yaw);
 190     _mav_put_float(buf, 20, rollspeed);
 191     _mav_put_float(buf, 24, pitchspeed);
 192     _mav_put_float(buf, 28, yawspeed);
 193     _mav_put_int32_t(buf, 32, lat);
 194     _mav_put_int32_t(buf, 36, lon);
 195     _mav_put_int32_t(buf, 40, alt);
 196     _mav_put_int16_t(buf, 44, vx);
 197     _mav_put_int16_t(buf, 46, vy);
 198     _mav_put_int16_t(buf, 48, vz);
 199     _mav_put_int16_t(buf, 50, xacc);
 200     _mav_put_int16_t(buf, 52, yacc);
 201     _mav_put_int16_t(buf, 54, zacc);
 202
 203         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
 204 #else
 205     mavlink_hil_state_t packet;
 206     packet.time_usec = time_usec;
 207     packet.roll = roll;
 208     packet.pitch = pitch;
 209     packet.yaw = yaw;
 210     packet.rollspeed = rollspeed;
 211     packet.pitchspeed = pitchspeed;
 212     packet.yawspeed = yawspeed;
 213     packet.lat = lat;
 214     packet.lon = lon;
 215     packet.alt = alt;
 216     packet.vx = vx;
 217     packet.vy = vy;
 218     packet.vz = vz;
 219     packet.xacc = xacc;
 220     packet.yacc = yacc;
 221     packet.zacc = zacc;
 222
 223         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
 224 #endif
 225
 226     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 227     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 228 }
 229
 230 /**
 231  * @brief Encode a hil_state 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 hil_state C-struct to read the message contents from
 237  */
 238 static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 239 {
 240     return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 241 }
 242
 243 /**
 244  * @brief Encode a hil_state 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 hil_state C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
 253 {
 254     return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 255 }
 256
 257 /**
 258  * @brief Send a hil_state message
 259  * @param chan MAVLink channel to send the message
 260  *
 261  * @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.
 262  * @param roll [rad] Roll angle
 263  * @param pitch [rad] Pitch angle
 264  * @param yaw [rad] Yaw angle
 265  * @param rollspeed [rad/s] Body frame roll / phi angular speed
 266  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 267  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 268  * @param lat [degE7] Latitude
 269  * @param lon [degE7] Longitude
 270  * @param alt [mm] Altitude
 271  * @param vx [cm/s] Ground X Speed (Latitude)
 272  * @param vy [cm/s] Ground Y Speed (Longitude)
 273  * @param vz [cm/s] Ground Z Speed (Altitude)
 274  * @param xacc [mG] X acceleration
 275  * @param yacc [mG] Y acceleration
 276  * @param zacc [mG] Z acceleration
 277  */
 278 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 279
 280 static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 281 {
 282 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 283     char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
 284     _mav_put_uint64_t(buf, 0, time_usec);
 285     _mav_put_float(buf, 8, roll);
 286     _mav_put_float(buf, 12, pitch);
 287     _mav_put_float(buf, 16, yaw);
 288     _mav_put_float(buf, 20, rollspeed);
 289     _mav_put_float(buf, 24, pitchspeed);
 290     _mav_put_float(buf, 28, yawspeed);
 291     _mav_put_int32_t(buf, 32, lat);
 292     _mav_put_int32_t(buf, 36, lon);
 293     _mav_put_int32_t(buf, 40, alt);
 294     _mav_put_int16_t(buf, 44, vx);
 295     _mav_put_int16_t(buf, 46, vy);
 296     _mav_put_int16_t(buf, 48, vz);
 297     _mav_put_int16_t(buf, 50, xacc);
 298     _mav_put_int16_t(buf, 52, yacc);
 299     _mav_put_int16_t(buf, 54, zacc);
 300
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 302 #else
 303     mavlink_hil_state_t packet;
 304     packet.time_usec = time_usec;
 305     packet.roll = roll;
 306     packet.pitch = pitch;
 307     packet.yaw = yaw;
 308     packet.rollspeed = rollspeed;
 309     packet.pitchspeed = pitchspeed;
 310     packet.yawspeed = yawspeed;
 311     packet.lat = lat;
 312     packet.lon = lon;
 313     packet.alt = alt;
 314     packet.vx = vx;
 315     packet.vy = vy;
 316     packet.vz = vz;
 317     packet.xacc = xacc;
 318     packet.yacc = yacc;
 319     packet.zacc = zacc;
 320
 321     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 322 #endif
 323 }
 324
 325 /**
 326  * @brief Send a hil_state 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_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state)
 331 {
 332 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 333     mavlink_msg_hil_state_send(chan, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 334 #else
 335     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)hil_state, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 336 #endif
 337 }
 338
 339 #if MAVLINK_MSG_ID_HIL_STATE_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_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 350     char *buf = (char *)msgbuf;
 351     _mav_put_uint64_t(buf, 0, time_usec);
 352     _mav_put_float(buf, 8, roll);
 353     _mav_put_float(buf, 12, pitch);
 354     _mav_put_float(buf, 16, yaw);
 355     _mav_put_float(buf, 20, rollspeed);
 356     _mav_put_float(buf, 24, pitchspeed);
 357     _mav_put_float(buf, 28, yawspeed);
 358     _mav_put_int32_t(buf, 32, lat);
 359     _mav_put_int32_t(buf, 36, lon);
 360     _mav_put_int32_t(buf, 40, alt);
 361     _mav_put_int16_t(buf, 44, vx);
 362     _mav_put_int16_t(buf, 46, vy);
 363     _mav_put_int16_t(buf, 48, vz);
 364     _mav_put_int16_t(buf, 50, xacc);
 365     _mav_put_int16_t(buf, 52, yacc);
 366     _mav_put_int16_t(buf, 54, zacc);
 367
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 369 #else
 370     mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
 371     packet->time_usec = time_usec;
 372     packet->roll = roll;
 373     packet->pitch = pitch;
 374     packet->yaw = yaw;
 375     packet->rollspeed = rollspeed;
 376     packet->pitchspeed = pitchspeed;
 377     packet->yawspeed = yawspeed;
 378     packet->lat = lat;
 379     packet->lon = lon;
 380     packet->alt = alt;
 381     packet->vx = vx;
 382     packet->vy = vy;
 383     packet->vz = vz;
 384     packet->xacc = xacc;
 385     packet->yacc = yacc;
 386     packet->zacc = zacc;
 387
 388     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
 389 #endif
 390 }
 391 #endif
 392
 393 #endif
 394
 395 // MESSAGE HIL_STATE UNPACKING
 396
 397
 398 /**
 399  * @brief Get field time_usec from hil_state message
 400  *
 401  * @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.
 402  */
 403 static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_uint64_t(msg,  0);
 406 }
 407
 408 /**
 409  * @brief Get field roll from hil_state message
 410  *
 411  * @return [rad] Roll angle
 412  */
 413 static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_float(msg,  8);
 416 }
 417
 418 /**
 419  * @brief Get field pitch from hil_state message
 420  *
 421  * @return [rad] Pitch angle
 422  */
 423 static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_float(msg,  12);
 426 }
 427
 428 /**
 429  * @brief Get field yaw from hil_state message
 430  *
 431  * @return [rad] Yaw angle
 432  */
 433 static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_float(msg,  16);
 436 }
 437
 438 /**
 439  * @brief Get field rollspeed from hil_state message
 440  *
 441  * @return [rad/s] Body frame roll / phi angular speed
 442  */
 443 static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_float(msg,  20);
 446 }
 447
 448 /**
 449  * @brief Get field pitchspeed from hil_state message
 450  *
 451  * @return [rad/s] Body frame pitch / theta angular speed
 452  */
 453 static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_float(msg,  24);
 456 }
 457
 458 /**
 459  * @brief Get field yawspeed from hil_state message
 460  *
 461  * @return [rad/s] Body frame yaw / psi angular speed
 462  */
 463 static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_float(msg,  28);
 466 }
 467
 468 /**
 469  * @brief Get field lat from hil_state message
 470  *
 471  * @return [degE7] Latitude
 472  */
 473 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_int32_t(msg,  32);
 476 }
 477
 478 /**
 479  * @brief Get field lon from hil_state message
 480  *
 481  * @return [degE7] Longitude
 482  */
 483 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_int32_t(msg,  36);
 486 }
 487
 488 /**
 489  * @brief Get field alt from hil_state message
 490  *
 491  * @return [mm] Altitude
 492  */
 493 static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_int32_t(msg,  40);
 496 }
 497
 498 /**
 499  * @brief Get field vx from hil_state message
 500  *
 501  * @return [cm/s] Ground X Speed (Latitude)
 502  */
 503 static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_int16_t(msg,  44);
 506 }
 507
 508 /**
 509  * @brief Get field vy from hil_state message
 510  *
 511  * @return [cm/s] Ground Y Speed (Longitude)
 512  */
 513 static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_int16_t(msg,  46);
 516 }
 517
 518 /**
 519  * @brief Get field vz from hil_state message
 520  *
 521  * @return [cm/s] Ground Z Speed (Altitude)
 522  */
 523 static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_int16_t(msg,  48);
 526 }
 527
 528 /**
 529  * @brief Get field xacc from hil_state message
 530  *
 531  * @return [mG] X acceleration
 532  */
 533 static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_int16_t(msg,  50);
 536 }
 537
 538 /**
 539  * @brief Get field yacc from hil_state message
 540  *
 541  * @return [mG] Y acceleration
 542  */
 543 static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_int16_t(msg,  52);
 546 }
 547
 548 /**
 549  * @brief Get field zacc from hil_state message
 550  *
 551  * @return [mG] Z acceleration
 552  */
 553 static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_int16_t(msg,  54);
 556 }
 557
 558 /**
 559  * @brief Decode a hil_state message into a struct
 560  *
 561  * @param msg The message to decode
 562  * @param hil_state C-struct to decode the message contents into
 563  */
 564 static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
 565 {
 566 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 567     hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
 568     hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
 569     hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
 570     hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
 571     hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
 572     hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
 573     hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
 574     hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
 575     hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
 576     hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
 577     hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
 578     hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
 579     hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
 580     hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
 581     hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
 582     hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
 583 #else
 584         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN;
 585         memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN);
 586     memcpy(hil_state, _MAV_PAYLOAD(msg), len);
 587 #endif
 588 }