lib/main/MAVLink/common/mavlink_msg_nav_controller_output.h

   1 #pragma once
   2 // MESSAGE NAV_CONTROLLER_OUTPUT PACKING
   3
   4 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
   5
   6
   7 typedef struct __mavlink_nav_controller_output_t {
   8  float nav_roll; /*< [deg] Current desired roll*/
   9  float nav_pitch; /*< [deg] Current desired pitch*/
  10  float alt_error; /*< [m] Current altitude error*/
  11  float aspd_error; /*< [m/s] Current airspeed error*/
  12  float xtrack_error; /*< [m] Current crosstrack error on x-y plane*/
  13  int16_t nav_bearing; /*< [deg] Current desired heading*/
  14  int16_t target_bearing; /*< [deg] Bearing to current waypoint/target*/
  15  uint16_t wp_dist; /*< [m] Distance to active waypoint*/
  16 } mavlink_nav_controller_output_t;
  17
  18 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
  19 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN 26
  20 #define MAVLINK_MSG_ID_62_LEN 26
  21 #define MAVLINK_MSG_ID_62_MIN_LEN 26
  22
  23 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183
  24 #define MAVLINK_MSG_ID_62_CRC 183
  25
  26
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
  30     62, \
  31     "NAV_CONTROLLER_OUTPUT", \
  32     8, \
  33     {  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
  34          { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
  35          { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
  36          { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
  37          { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
  38          { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
  39          { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
  40          { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
  45     "NAV_CONTROLLER_OUTPUT", \
  46     8, \
  47     {  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
  48          { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
  49          { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
  50          { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
  51          { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
  52          { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
  53          { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
  54          { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a nav_controller_output message
  61  * @param system_id ID of this system
  62  * @param component_id ID of this component (e.g. 200 for IMU)
  63  * @param msg The MAVLink message to compress the data into
  64  *
  65  * @param nav_roll [deg] Current desired roll
  66  * @param nav_pitch [deg] Current desired pitch
  67  * @param nav_bearing [deg] Current desired heading
  68  * @param target_bearing [deg] Bearing to current waypoint/target
  69  * @param wp_dist [m] Distance to active waypoint
  70  * @param alt_error [m] Current altitude error
  71  * @param aspd_error [m/s] Current airspeed error
  72  * @param xtrack_error [m] Current crosstrack error on x-y plane
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
  80     _mav_put_float(buf, 0, nav_roll);
  81     _mav_put_float(buf, 4, nav_pitch);
  82     _mav_put_float(buf, 8, alt_error);
  83     _mav_put_float(buf, 12, aspd_error);
  84     _mav_put_float(buf, 16, xtrack_error);
  85     _mav_put_int16_t(buf, 20, nav_bearing);
  86     _mav_put_int16_t(buf, 22, target_bearing);
  87     _mav_put_uint16_t(buf, 24, wp_dist);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
  90 #else
  91     mavlink_nav_controller_output_t packet;
  92     packet.nav_roll = nav_roll;
  93     packet.nav_pitch = nav_pitch;
  94     packet.alt_error = alt_error;
  95     packet.aspd_error = aspd_error;
  96     packet.xtrack_error = xtrack_error;
  97     packet.nav_bearing = nav_bearing;
  98     packet.target_bearing = target_bearing;
  99     packet.wp_dist = wp_dist;
 100
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 102 #endif
 103
 104     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
 105     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 106 }
 107
 108 /**
 109  * @brief Pack a nav_controller_output message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param nav_roll [deg] Current desired roll
 115  * @param nav_pitch [deg] Current desired pitch
 116  * @param nav_bearing [deg] Current desired heading
 117  * @param target_bearing [deg] Bearing to current waypoint/target
 118  * @param wp_dist [m] Distance to active waypoint
 119  * @param alt_error [m] Current altitude error
 120  * @param aspd_error [m/s] Current airspeed error
 121  * @param xtrack_error [m] Current crosstrack error on x-y plane
 122  * @return length of the message in bytes (excluding serial stream start sign)
 123  */
 124 static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 125                                mavlink_message_t* msg,
 126                                    float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
 127 {
 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 129     char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
 130     _mav_put_float(buf, 0, nav_roll);
 131     _mav_put_float(buf, 4, nav_pitch);
 132     _mav_put_float(buf, 8, alt_error);
 133     _mav_put_float(buf, 12, aspd_error);
 134     _mav_put_float(buf, 16, xtrack_error);
 135     _mav_put_int16_t(buf, 20, nav_bearing);
 136     _mav_put_int16_t(buf, 22, target_bearing);
 137     _mav_put_uint16_t(buf, 24, wp_dist);
 138
 139         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 140 #else
 141     mavlink_nav_controller_output_t packet;
 142     packet.nav_roll = nav_roll;
 143     packet.nav_pitch = nav_pitch;
 144     packet.alt_error = alt_error;
 145     packet.aspd_error = aspd_error;
 146     packet.xtrack_error = xtrack_error;
 147     packet.nav_bearing = nav_bearing;
 148     packet.target_bearing = target_bearing;
 149     packet.wp_dist = wp_dist;
 150
 151         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 152 #endif
 153
 154     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
 155     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 156 }
 157
 158 /**
 159  * @brief Encode a nav_controller_output struct
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param msg The MAVLink message to compress the data into
 164  * @param nav_controller_output C-struct to read the message contents from
 165  */
 166 static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
 167 {
 168     return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 169 }
 170
 171 /**
 172  * @brief Encode a nav_controller_output struct on a channel
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param chan The MAVLink channel this message will be sent over
 177  * @param msg The MAVLink message to compress the data into
 178  * @param nav_controller_output C-struct to read the message contents from
 179  */
 180 static inline uint16_t mavlink_msg_nav_controller_output_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
 181 {
 182     return mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, chan, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 183 }
 184
 185 /**
 186  * @brief Send a nav_controller_output message
 187  * @param chan MAVLink channel to send the message
 188  *
 189  * @param nav_roll [deg] Current desired roll
 190  * @param nav_pitch [deg] Current desired pitch
 191  * @param nav_bearing [deg] Current desired heading
 192  * @param target_bearing [deg] Bearing to current waypoint/target
 193  * @param wp_dist [m] Distance to active waypoint
 194  * @param alt_error [m] Current altitude error
 195  * @param aspd_error [m/s] Current airspeed error
 196  * @param xtrack_error [m] Current crosstrack error on x-y plane
 197  */
 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 199
 200 static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 201 {
 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 203     char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
 204     _mav_put_float(buf, 0, nav_roll);
 205     _mav_put_float(buf, 4, nav_pitch);
 206     _mav_put_float(buf, 8, alt_error);
 207     _mav_put_float(buf, 12, aspd_error);
 208     _mav_put_float(buf, 16, xtrack_error);
 209     _mav_put_int16_t(buf, 20, nav_bearing);
 210     _mav_put_int16_t(buf, 22, target_bearing);
 211     _mav_put_uint16_t(buf, 24, wp_dist);
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 214 #else
 215     mavlink_nav_controller_output_t packet;
 216     packet.nav_roll = nav_roll;
 217     packet.nav_pitch = nav_pitch;
 218     packet.alt_error = alt_error;
 219     packet.aspd_error = aspd_error;
 220     packet.xtrack_error = xtrack_error;
 221     packet.nav_bearing = nav_bearing;
 222     packet.target_bearing = target_bearing;
 223     packet.wp_dist = wp_dist;
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 226 #endif
 227 }
 228
 229 /**
 230  * @brief Send a nav_controller_output message
 231  * @param chan MAVLink channel to send the message
 232  * @param struct The MAVLink struct to serialize
 233  */
 234 static inline void mavlink_msg_nav_controller_output_send_struct(mavlink_channel_t chan, const mavlink_nav_controller_output_t* nav_controller_output)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237     mavlink_msg_nav_controller_output_send(chan, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 238 #else
 239     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)nav_controller_output, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 240 #endif
 241 }
 242
 243 #if MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 244 /*
 245   This varient of _send() can be used to save stack space by re-using
 246   memory from the receive buffer.  The caller provides a
 247   mavlink_message_t which is the size of a full mavlink message. This
 248   is usually the receive buffer for the channel, and allows a reply to an
 249   incoming message with minimum stack space usage.
 250  */
 251 static inline void mavlink_msg_nav_controller_output_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 252 {
 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 254     char *buf = (char *)msgbuf;
 255     _mav_put_float(buf, 0, nav_roll);
 256     _mav_put_float(buf, 4, nav_pitch);
 257     _mav_put_float(buf, 8, alt_error);
 258     _mav_put_float(buf, 12, aspd_error);
 259     _mav_put_float(buf, 16, xtrack_error);
 260     _mav_put_int16_t(buf, 20, nav_bearing);
 261     _mav_put_int16_t(buf, 22, target_bearing);
 262     _mav_put_uint16_t(buf, 24, wp_dist);
 263
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 265 #else
 266     mavlink_nav_controller_output_t *packet = (mavlink_nav_controller_output_t *)msgbuf;
 267     packet->nav_roll = nav_roll;
 268     packet->nav_pitch = nav_pitch;
 269     packet->alt_error = alt_error;
 270     packet->aspd_error = aspd_error;
 271     packet->xtrack_error = xtrack_error;
 272     packet->nav_bearing = nav_bearing;
 273     packet->target_bearing = target_bearing;
 274     packet->wp_dist = wp_dist;
 275
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_MIN_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
 277 #endif
 278 }
 279 #endif
 280
 281 #endif
 282
 283 // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
 284
 285
 286 /**
 287  * @brief Get field nav_roll from nav_controller_output message
 288  *
 289  * @return [deg] Current desired roll
 290  */
 291 static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
 292 {
 293     return _MAV_RETURN_float(msg,  0);
 294 }
 295
 296 /**
 297  * @brief Get field nav_pitch from nav_controller_output message
 298  *
 299  * @return [deg] Current desired pitch
 300  */
 301 static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
 302 {
 303     return _MAV_RETURN_float(msg,  4);
 304 }
 305
 306 /**
 307  * @brief Get field nav_bearing from nav_controller_output message
 308  *
 309  * @return [deg] Current desired heading
 310  */
 311 static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_int16_t(msg,  20);
 314 }
 315
 316 /**
 317  * @brief Get field target_bearing from nav_controller_output message
 318  *
 319  * @return [deg] Bearing to current waypoint/target
 320  */
 321 static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_int16_t(msg,  22);
 324 }
 325
 326 /**
 327  * @brief Get field wp_dist from nav_controller_output message
 328  *
 329  * @return [m] Distance to active waypoint
 330  */
 331 static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_uint16_t(msg,  24);
 334 }
 335
 336 /**
 337  * @brief Get field alt_error from nav_controller_output message
 338  *
 339  * @return [m] Current altitude error
 340  */
 341 static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_float(msg,  8);
 344 }
 345
 346 /**
 347  * @brief Get field aspd_error from nav_controller_output message
 348  *
 349  * @return [m/s] Current airspeed error
 350  */
 351 static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_float(msg,  12);
 354 }
 355
 356 /**
 357  * @brief Get field xtrack_error from nav_controller_output message
 358  *
 359  * @return [m] Current crosstrack error on x-y plane
 360  */
 361 static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_float(msg,  16);
 364 }
 365
 366 /**
 367  * @brief Decode a nav_controller_output message into a struct
 368  *
 369  * @param msg The message to decode
 370  * @param nav_controller_output C-struct to decode the message contents into
 371  */
 372 static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
 373 {
 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 375     nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
 376     nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
 377     nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
 378     nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
 379     nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
 380     nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
 381     nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
 382     nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
 383 #else
 384         uint8_t len = msg->len < MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN? msg->len : MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN;
 385         memset(nav_controller_output, 0, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
 386     memcpy(nav_controller_output, _MAV_PAYLOAD(msg), len);
 387 #endif
 388 }