lib/main/MAVLink/common/mavlink_msg_set_position_target_global_int.h

   1 #pragma once
   2 // MESSAGE SET_POSITION_TARGET_GLOBAL_INT PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT 86
   5
   6
   7 typedef struct __mavlink_set_position_target_global_int_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.*/
   9  int32_t lat_int; /*< [degE7] X Position in WGS84 frame*/
  10  int32_t lon_int; /*< [degE7] Y Position in WGS84 frame*/
  11  float alt; /*< [m] Altitude (MSL, Relative to home, or AGL - depending on frame)*/
  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 target_system; /*<  System ID*/
  22  uint8_t target_component; /*<  Component ID*/
  23  uint8_t coordinate_frame; /*<  Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11*/
  24 } mavlink_set_position_target_global_int_t;
  25
  26 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN 53
  27 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN 53
  28 #define MAVLINK_MSG_ID_86_LEN 53
  29 #define MAVLINK_MSG_ID_86_MIN_LEN 53
  30
  31 #define MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC 5
  32 #define MAVLINK_MSG_ID_86_CRC 5
  33
  34
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_GLOBAL_INT { \
  38     86, \
  39     "SET_POSITION_TARGET_GLOBAL_INT", \
  40     16, \
  41     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_global_int_t, time_boot_ms) }, \
  42          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_global_int_t, target_system) }, \
  43          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_global_int_t, target_component) }, \
  44          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_global_int_t, coordinate_frame) }, \
  45          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_global_int_t, type_mask) }, \
  46          { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_position_target_global_int_t, lat_int) }, \
  47          { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_position_target_global_int_t, lon_int) }, \
  48          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_global_int_t, alt) }, \
  49          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_global_int_t, vx) }, \
  50          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_global_int_t, vy) }, \
  51          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_global_int_t, vz) }, \
  52          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_global_int_t, afx) }, \
  53          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_global_int_t, afy) }, \
  54          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_global_int_t, afz) }, \
  55          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_global_int_t, yaw) }, \
  56          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_global_int_t, yaw_rate) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_SET_POSITION_TARGET_GLOBAL_INT { \
  61     "SET_POSITION_TARGET_GLOBAL_INT", \
  62     16, \
  63     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_position_target_global_int_t, time_boot_ms) }, \
  64          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_set_position_target_global_int_t, target_system) }, \
  65          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_set_position_target_global_int_t, target_component) }, \
  66          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_position_target_global_int_t, coordinate_frame) }, \
  67          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_set_position_target_global_int_t, type_mask) }, \
  68          { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_position_target_global_int_t, lat_int) }, \
  69          { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_position_target_global_int_t, lon_int) }, \
  70          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_target_global_int_t, alt) }, \
  71          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_position_target_global_int_t, vx) }, \
  72          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_position_target_global_int_t, vy) }, \
  73          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_set_position_target_global_int_t, vz) }, \
  74          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_set_position_target_global_int_t, afx) }, \
  75          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_set_position_target_global_int_t, afy) }, \
  76          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_set_position_target_global_int_t, afz) }, \
  77          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_position_target_global_int_t, yaw) }, \
  78          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_position_target_global_int_t, yaw_rate) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a set_position_target_global_int 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_boot_ms [ms] Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
  90  * @param target_system  System ID
  91  * @param target_component  Component ID
  92  * @param coordinate_frame  Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  93  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
  94  * @param lat_int [degE7] X Position in WGS84 frame
  95  * @param lon_int [degE7] Y Position in WGS84 frame
  96  * @param alt [m] Altitude (MSL, Relative to home, or AGL - depending on frame)
  97  * @param vx [m/s] X velocity in NED frame
  98  * @param vy [m/s] Y velocity in NED frame
  99  * @param vz [m/s] Z velocity in NED frame
 100  * @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
 101  * @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
 102  * @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
 103  * @param yaw [rad] yaw setpoint
 104  * @param yaw_rate [rad/s] yaw rate setpoint
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_set_position_target_global_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN];
 112     _mav_put_uint32_t(buf, 0, time_boot_ms);
 113     _mav_put_int32_t(buf, 4, lat_int);
 114     _mav_put_int32_t(buf, 8, lon_int);
 115     _mav_put_float(buf, 12, alt);
 116     _mav_put_float(buf, 16, vx);
 117     _mav_put_float(buf, 20, vy);
 118     _mav_put_float(buf, 24, vz);
 119     _mav_put_float(buf, 28, afx);
 120     _mav_put_float(buf, 32, afy);
 121     _mav_put_float(buf, 36, afz);
 122     _mav_put_float(buf, 40, yaw);
 123     _mav_put_float(buf, 44, yaw_rate);
 124     _mav_put_uint16_t(buf, 48, type_mask);
 125     _mav_put_uint8_t(buf, 50, target_system);
 126     _mav_put_uint8_t(buf, 51, target_component);
 127     _mav_put_uint8_t(buf, 52, coordinate_frame);
 128
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN);
 130 #else
 131     mavlink_set_position_target_global_int_t packet;
 132     packet.time_boot_ms = time_boot_ms;
 133     packet.lat_int = lat_int;
 134     packet.lon_int = lon_int;
 135     packet.alt = alt;
 136     packet.vx = vx;
 137     packet.vy = vy;
 138     packet.vz = vz;
 139     packet.afx = afx;
 140     packet.afy = afy;
 141     packet.afz = afz;
 142     packet.yaw = yaw;
 143     packet.yaw_rate = yaw_rate;
 144     packet.type_mask = type_mask;
 145     packet.target_system = target_system;
 146     packet.target_component = target_component;
 147     packet.coordinate_frame = coordinate_frame;
 148
 149         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN);
 150 #endif
 151
 152     msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
 153     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 154 }
 155
 156 /**
 157  * @brief Pack a set_position_target_global_int 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_boot_ms [ms] Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 163  * @param target_system  System ID
 164  * @param target_component  Component ID
 165  * @param coordinate_frame  Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 166  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 167  * @param lat_int [degE7] X Position in WGS84 frame
 168  * @param lon_int [degE7] Y Position in WGS84 frame
 169  * @param alt [m] Altitude (MSL, Relative to home, or AGL - depending on frame)
 170  * @param vx [m/s] X velocity in NED frame
 171  * @param vy [m/s] Y velocity in NED frame
 172  * @param vz [m/s] Z velocity in NED frame
 173  * @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
 174  * @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
 175  * @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
 176  * @param yaw [rad] yaw setpoint
 177  * @param yaw_rate [rad/s] yaw rate setpoint
 178  * @return length of the message in bytes (excluding serial stream start sign)
 179  */
 180 static inline uint16_t mavlink_msg_set_position_target_global_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 181                                mavlink_message_t* msg,
 182                                    uint32_t time_boot_ms,uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,uint16_t type_mask,int32_t lat_int,int32_t lon_int,float alt,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN];
 186     _mav_put_uint32_t(buf, 0, time_boot_ms);
 187     _mav_put_int32_t(buf, 4, lat_int);
 188     _mav_put_int32_t(buf, 8, lon_int);
 189     _mav_put_float(buf, 12, alt);
 190     _mav_put_float(buf, 16, vx);
 191     _mav_put_float(buf, 20, vy);
 192     _mav_put_float(buf, 24, vz);
 193     _mav_put_float(buf, 28, afx);
 194     _mav_put_float(buf, 32, afy);
 195     _mav_put_float(buf, 36, afz);
 196     _mav_put_float(buf, 40, yaw);
 197     _mav_put_float(buf, 44, yaw_rate);
 198     _mav_put_uint16_t(buf, 48, type_mask);
 199     _mav_put_uint8_t(buf, 50, target_system);
 200     _mav_put_uint8_t(buf, 51, target_component);
 201     _mav_put_uint8_t(buf, 52, coordinate_frame);
 202
 203         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN);
 204 #else
 205     mavlink_set_position_target_global_int_t packet;
 206     packet.time_boot_ms = time_boot_ms;
 207     packet.lat_int = lat_int;
 208     packet.lon_int = lon_int;
 209     packet.alt = alt;
 210     packet.vx = vx;
 211     packet.vy = vy;
 212     packet.vz = vz;
 213     packet.afx = afx;
 214     packet.afy = afy;
 215     packet.afz = afz;
 216     packet.yaw = yaw;
 217     packet.yaw_rate = yaw_rate;
 218     packet.type_mask = type_mask;
 219     packet.target_system = target_system;
 220     packet.target_component = target_component;
 221     packet.coordinate_frame = coordinate_frame;
 222
 223         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN);
 224 #endif
 225
 226     msg->msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
 227     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 228 }
 229
 230 /**
 231  * @brief Encode a set_position_target_global_int 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 set_position_target_global_int C-struct to read the message contents from
 237  */
 238 static inline uint16_t mavlink_msg_set_position_target_global_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_position_target_global_int_t* set_position_target_global_int)
 239 {
 240     return mavlink_msg_set_position_target_global_int_pack(system_id, component_id, msg, set_position_target_global_int->time_boot_ms, set_position_target_global_int->target_system, set_position_target_global_int->target_component, set_position_target_global_int->coordinate_frame, set_position_target_global_int->type_mask, set_position_target_global_int->lat_int, set_position_target_global_int->lon_int, set_position_target_global_int->alt, set_position_target_global_int->vx, set_position_target_global_int->vy, set_position_target_global_int->vz, set_position_target_global_int->afx, set_position_target_global_int->afy, set_position_target_global_int->afz, set_position_target_global_int->yaw, set_position_target_global_int->yaw_rate);
 241 }
 242
 243 /**
 244  * @brief Encode a set_position_target_global_int 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 set_position_target_global_int C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_set_position_target_global_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_position_target_global_int_t* set_position_target_global_int)
 253 {
 254     return mavlink_msg_set_position_target_global_int_pack_chan(system_id, component_id, chan, msg, set_position_target_global_int->time_boot_ms, set_position_target_global_int->target_system, set_position_target_global_int->target_component, set_position_target_global_int->coordinate_frame, set_position_target_global_int->type_mask, set_position_target_global_int->lat_int, set_position_target_global_int->lon_int, set_position_target_global_int->alt, set_position_target_global_int->vx, set_position_target_global_int->vy, set_position_target_global_int->vz, set_position_target_global_int->afx, set_position_target_global_int->afy, set_position_target_global_int->afz, set_position_target_global_int->yaw, set_position_target_global_int->yaw_rate);
 255 }
 256
 257 /**
 258  * @brief Send a set_position_target_global_int message
 259  * @param chan MAVLink channel to send the message
 260  *
 261  * @param time_boot_ms [ms] Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 262  * @param target_system  System ID
 263  * @param target_component  Component ID
 264  * @param coordinate_frame  Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 265  * @param type_mask  Bitmap to indicate which dimensions should be ignored by the vehicle.
 266  * @param lat_int [degE7] X Position in WGS84 frame
 267  * @param lon_int [degE7] Y Position in WGS84 frame
 268  * @param alt [m] Altitude (MSL, Relative to home, or AGL - depending on frame)
 269  * @param vx [m/s] X velocity in NED frame
 270  * @param vy [m/s] Y velocity in NED frame
 271  * @param vz [m/s] Z velocity in NED frame
 272  * @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
 273  * @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
 274  * @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
 275  * @param yaw [rad] yaw setpoint
 276  * @param yaw_rate [rad/s] yaw rate setpoint
 277  */
 278 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 279
 280 static inline void mavlink_msg_set_position_target_global_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 281 {
 282 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 283     char buf[MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN];
 284     _mav_put_uint32_t(buf, 0, time_boot_ms);
 285     _mav_put_int32_t(buf, 4, lat_int);
 286     _mav_put_int32_t(buf, 8, lon_int);
 287     _mav_put_float(buf, 12, alt);
 288     _mav_put_float(buf, 16, vx);
 289     _mav_put_float(buf, 20, vy);
 290     _mav_put_float(buf, 24, vz);
 291     _mav_put_float(buf, 28, afx);
 292     _mav_put_float(buf, 32, afy);
 293     _mav_put_float(buf, 36, afz);
 294     _mav_put_float(buf, 40, yaw);
 295     _mav_put_float(buf, 44, yaw_rate);
 296     _mav_put_uint16_t(buf, 48, type_mask);
 297     _mav_put_uint8_t(buf, 50, target_system);
 298     _mav_put_uint8_t(buf, 51, target_component);
 299     _mav_put_uint8_t(buf, 52, coordinate_frame);
 300
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 302 #else
 303     mavlink_set_position_target_global_int_t packet;
 304     packet.time_boot_ms = time_boot_ms;
 305     packet.lat_int = lat_int;
 306     packet.lon_int = lon_int;
 307     packet.alt = alt;
 308     packet.vx = vx;
 309     packet.vy = vy;
 310     packet.vz = vz;
 311     packet.afx = afx;
 312     packet.afy = afy;
 313     packet.afz = afz;
 314     packet.yaw = yaw;
 315     packet.yaw_rate = yaw_rate;
 316     packet.type_mask = type_mask;
 317     packet.target_system = target_system;
 318     packet.target_component = target_component;
 319     packet.coordinate_frame = coordinate_frame;
 320
 321     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 322 #endif
 323 }
 324
 325 /**
 326  * @brief Send a set_position_target_global_int 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_set_position_target_global_int_send_struct(mavlink_channel_t chan, const mavlink_set_position_target_global_int_t* set_position_target_global_int)
 331 {
 332 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 333     mavlink_msg_set_position_target_global_int_send(chan, set_position_target_global_int->time_boot_ms, set_position_target_global_int->target_system, set_position_target_global_int->target_component, set_position_target_global_int->coordinate_frame, set_position_target_global_int->type_mask, set_position_target_global_int->lat_int, set_position_target_global_int->lon_int, set_position_target_global_int->alt, set_position_target_global_int->vx, set_position_target_global_int->vy, set_position_target_global_int->vz, set_position_target_global_int->afx, set_position_target_global_int->afy, set_position_target_global_int->afz, set_position_target_global_int->yaw, set_position_target_global_int->yaw_rate);
 334 #else
 335     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, (const char *)set_position_target_global_int, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 336 #endif
 337 }
 338
 339 #if MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_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_set_position_target_global_int_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 coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 350     char *buf = (char *)msgbuf;
 351     _mav_put_uint32_t(buf, 0, time_boot_ms);
 352     _mav_put_int32_t(buf, 4, lat_int);
 353     _mav_put_int32_t(buf, 8, lon_int);
 354     _mav_put_float(buf, 12, alt);
 355     _mav_put_float(buf, 16, vx);
 356     _mav_put_float(buf, 20, vy);
 357     _mav_put_float(buf, 24, vz);
 358     _mav_put_float(buf, 28, afx);
 359     _mav_put_float(buf, 32, afy);
 360     _mav_put_float(buf, 36, afz);
 361     _mav_put_float(buf, 40, yaw);
 362     _mav_put_float(buf, 44, yaw_rate);
 363     _mav_put_uint16_t(buf, 48, type_mask);
 364     _mav_put_uint8_t(buf, 50, target_system);
 365     _mav_put_uint8_t(buf, 51, target_component);
 366     _mav_put_uint8_t(buf, 52, coordinate_frame);
 367
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 369 #else
 370     mavlink_set_position_target_global_int_t *packet = (mavlink_set_position_target_global_int_t *)msgbuf;
 371     packet->time_boot_ms = time_boot_ms;
 372     packet->lat_int = lat_int;
 373     packet->lon_int = lon_int;
 374     packet->alt = alt;
 375     packet->vx = vx;
 376     packet->vy = vy;
 377     packet->vz = vz;
 378     packet->afx = afx;
 379     packet->afy = afy;
 380     packet->afz = afz;
 381     packet->yaw = yaw;
 382     packet->yaw_rate = yaw_rate;
 383     packet->type_mask = type_mask;
 384     packet->target_system = target_system;
 385     packet->target_component = target_component;
 386     packet->coordinate_frame = coordinate_frame;
 387
 388     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT, (const char *)packet, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_MIN_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_CRC);
 389 #endif
 390 }
 391 #endif
 392
 393 #endif
 394
 395 // MESSAGE SET_POSITION_TARGET_GLOBAL_INT UNPACKING
 396
 397
 398 /**
 399  * @brief Get field time_boot_ms from set_position_target_global_int message
 400  *
 401  * @return [ms] Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 402  */
 403 static inline uint32_t mavlink_msg_set_position_target_global_int_get_time_boot_ms(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_uint32_t(msg,  0);
 406 }
 407
 408 /**
 409  * @brief Get field target_system from set_position_target_global_int message
 410  *
 411  * @return  System ID
 412  */
 413 static inline uint8_t mavlink_msg_set_position_target_global_int_get_target_system(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_uint8_t(msg,  50);
 416 }
 417
 418 /**
 419  * @brief Get field target_component from set_position_target_global_int message
 420  *
 421  * @return  Component ID
 422  */
 423 static inline uint8_t mavlink_msg_set_position_target_global_int_get_target_component(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_uint8_t(msg,  51);
 426 }
 427
 428 /**
 429  * @brief Get field coordinate_frame from set_position_target_global_int message
 430  *
 431  * @return  Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 432  */
 433 static inline uint8_t mavlink_msg_set_position_target_global_int_get_coordinate_frame(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_uint8_t(msg,  52);
 436 }
 437
 438 /**
 439  * @brief Get field type_mask from set_position_target_global_int message
 440  *
 441  * @return  Bitmap to indicate which dimensions should be ignored by the vehicle.
 442  */
 443 static inline uint16_t mavlink_msg_set_position_target_global_int_get_type_mask(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_uint16_t(msg,  48);
 446 }
 447
 448 /**
 449  * @brief Get field lat_int from set_position_target_global_int message
 450  *
 451  * @return [degE7] X Position in WGS84 frame
 452  */
 453 static inline int32_t mavlink_msg_set_position_target_global_int_get_lat_int(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_int32_t(msg,  4);
 456 }
 457
 458 /**
 459  * @brief Get field lon_int from set_position_target_global_int message
 460  *
 461  * @return [degE7] Y Position in WGS84 frame
 462  */
 463 static inline int32_t mavlink_msg_set_position_target_global_int_get_lon_int(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_int32_t(msg,  8);
 466 }
 467
 468 /**
 469  * @brief Get field alt from set_position_target_global_int message
 470  *
 471  * @return [m] Altitude (MSL, Relative to home, or AGL - depending on frame)
 472  */
 473 static inline float mavlink_msg_set_position_target_global_int_get_alt(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_float(msg,  12);
 476 }
 477
 478 /**
 479  * @brief Get field vx from set_position_target_global_int message
 480  *
 481  * @return [m/s] X velocity in NED frame
 482  */
 483 static inline float mavlink_msg_set_position_target_global_int_get_vx(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_float(msg,  16);
 486 }
 487
 488 /**
 489  * @brief Get field vy from set_position_target_global_int message
 490  *
 491  * @return [m/s] Y velocity in NED frame
 492  */
 493 static inline float mavlink_msg_set_position_target_global_int_get_vy(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_float(msg,  20);
 496 }
 497
 498 /**
 499  * @brief Get field vz from set_position_target_global_int message
 500  *
 501  * @return [m/s] Z velocity in NED frame
 502  */
 503 static inline float mavlink_msg_set_position_target_global_int_get_vz(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_float(msg,  24);
 506 }
 507
 508 /**
 509  * @brief Get field afx from set_position_target_global_int message
 510  *
 511  * @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
 512  */
 513 static inline float mavlink_msg_set_position_target_global_int_get_afx(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_float(msg,  28);
 516 }
 517
 518 /**
 519  * @brief Get field afy from set_position_target_global_int message
 520  *
 521  * @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
 522  */
 523 static inline float mavlink_msg_set_position_target_global_int_get_afy(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_float(msg,  32);
 526 }
 527
 528 /**
 529  * @brief Get field afz from set_position_target_global_int message
 530  *
 531  * @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
 532  */
 533 static inline float mavlink_msg_set_position_target_global_int_get_afz(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_float(msg,  36);
 536 }
 537
 538 /**
 539  * @brief Get field yaw from set_position_target_global_int message
 540  *
 541  * @return [rad] yaw setpoint
 542  */
 543 static inline float mavlink_msg_set_position_target_global_int_get_yaw(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_float(msg,  40);
 546 }
 547
 548 /**
 549  * @brief Get field yaw_rate from set_position_target_global_int message
 550  *
 551  * @return [rad/s] yaw rate setpoint
 552  */
 553 static inline float mavlink_msg_set_position_target_global_int_get_yaw_rate(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_float(msg,  44);
 556 }
 557
 558 /**
 559  * @brief Decode a set_position_target_global_int message into a struct
 560  *
 561  * @param msg The message to decode
 562  * @param set_position_target_global_int C-struct to decode the message contents into
 563  */
 564 static inline void mavlink_msg_set_position_target_global_int_decode(const mavlink_message_t* msg, mavlink_set_position_target_global_int_t* set_position_target_global_int)
 565 {
 566 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 567     set_position_target_global_int->time_boot_ms = mavlink_msg_set_position_target_global_int_get_time_boot_ms(msg);
 568     set_position_target_global_int->lat_int = mavlink_msg_set_position_target_global_int_get_lat_int(msg);
 569     set_position_target_global_int->lon_int = mavlink_msg_set_position_target_global_int_get_lon_int(msg);
 570     set_position_target_global_int->alt = mavlink_msg_set_position_target_global_int_get_alt(msg);
 571     set_position_target_global_int->vx = mavlink_msg_set_position_target_global_int_get_vx(msg);
 572     set_position_target_global_int->vy = mavlink_msg_set_position_target_global_int_get_vy(msg);
 573     set_position_target_global_int->vz = mavlink_msg_set_position_target_global_int_get_vz(msg);
 574     set_position_target_global_int->afx = mavlink_msg_set_position_target_global_int_get_afx(msg);
 575     set_position_target_global_int->afy = mavlink_msg_set_position_target_global_int_get_afy(msg);
 576     set_position_target_global_int->afz = mavlink_msg_set_position_target_global_int_get_afz(msg);
 577     set_position_target_global_int->yaw = mavlink_msg_set_position_target_global_int_get_yaw(msg);
 578     set_position_target_global_int->yaw_rate = mavlink_msg_set_position_target_global_int_get_yaw_rate(msg);
 579     set_position_target_global_int->type_mask = mavlink_msg_set_position_target_global_int_get_type_mask(msg);
 580     set_position_target_global_int->target_system = mavlink_msg_set_position_target_global_int_get_target_system(msg);
 581     set_position_target_global_int->target_component = mavlink_msg_set_position_target_global_int_get_target_component(msg);
 582     set_position_target_global_int->coordinate_frame = mavlink_msg_set_position_target_global_int_get_coordinate_frame(msg);
 583 #else
 584         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN? msg->len : MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN;
 585         memset(set_position_target_global_int, 0, MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT_LEN);
 586     memcpy(set_position_target_global_int, _MAV_PAYLOAD(msg), len);
 587 #endif
 588 }