lib/main/MAVLink/common/mavlink_msg_trajectory_representation_waypoints.h

   1 #pragma once
   2 // MESSAGE TRAJECTORY_REPRESENTATION_WAYPOINTS PACKING
   3
   4 #define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS 332
   5
   6
   7 typedef struct __mavlink_trajectory_representation_waypoints_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 pos_x[5]; /*< [m] X-coordinate of waypoint, set to NaN if not being used*/
  10  float pos_y[5]; /*< [m] Y-coordinate of waypoint, set to NaN if not being used*/
  11  float pos_z[5]; /*< [m] Z-coordinate of waypoint, set to NaN if not being used*/
  12  float vel_x[5]; /*< [m/s] X-velocity of waypoint, set to NaN if not being used*/
  13  float vel_y[5]; /*< [m/s] Y-velocity of waypoint, set to NaN if not being used*/
  14  float vel_z[5]; /*< [m/s] Z-velocity of waypoint, set to NaN if not being used*/
  15  float acc_x[5]; /*< [m/s/s] X-acceleration of waypoint, set to NaN if not being used*/
  16  float acc_y[5]; /*< [m/s/s] Y-acceleration of waypoint, set to NaN if not being used*/
  17  float acc_z[5]; /*< [m/s/s] Z-acceleration of waypoint, set to NaN if not being used*/
  18  float pos_yaw[5]; /*< [rad] Yaw angle, set to NaN if not being used*/
  19  float vel_yaw[5]; /*< [rad/s] Yaw rate, set to NaN if not being used*/
  20  uint16_t command[5]; /*<  Scheduled action for each waypoint, UINT16_MAX if not being used.*/
  21  uint8_t valid_points; /*<  Number of valid points (up-to 5 waypoints are possible)*/
  22 } mavlink_trajectory_representation_waypoints_t;
  23
  24 #define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN 239
  25 #define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN 239
  26 #define MAVLINK_MSG_ID_332_LEN 239
  27 #define MAVLINK_MSG_ID_332_MIN_LEN 239
  28
  29 #define MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC 236
  30 #define MAVLINK_MSG_ID_332_CRC 236
  31
  32 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_POS_X_LEN 5
  33 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_POS_Y_LEN 5
  34 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_POS_Z_LEN 5
  35 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_VEL_X_LEN 5
  36 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_VEL_Y_LEN 5
  37 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_VEL_Z_LEN 5
  38 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_ACC_X_LEN 5
  39 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_ACC_Y_LEN 5
  40 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_ACC_Z_LEN 5
  41 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_POS_YAW_LEN 5
  42 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_VEL_YAW_LEN 5
  43 #define MAVLINK_MSG_TRAJECTORY_REPRESENTATION_WAYPOINTS_FIELD_COMMAND_LEN 5
  44
  45 #if MAVLINK_COMMAND_24BIT
  46 #define MAVLINK_MESSAGE_INFO_TRAJECTORY_REPRESENTATION_WAYPOINTS { \
  47     332, \
  48     "TRAJECTORY_REPRESENTATION_WAYPOINTS", \
  49     14, \
  50     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_trajectory_representation_waypoints_t, time_usec) }, \
  51          { "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 238, offsetof(mavlink_trajectory_representation_waypoints_t, valid_points) }, \
  52          { "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 8, offsetof(mavlink_trajectory_representation_waypoints_t, pos_x) }, \
  53          { "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 28, offsetof(mavlink_trajectory_representation_waypoints_t, pos_y) }, \
  54          { "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 48, offsetof(mavlink_trajectory_representation_waypoints_t, pos_z) }, \
  55          { "vel_x", NULL, MAVLINK_TYPE_FLOAT, 5, 68, offsetof(mavlink_trajectory_representation_waypoints_t, vel_x) }, \
  56          { "vel_y", NULL, MAVLINK_TYPE_FLOAT, 5, 88, offsetof(mavlink_trajectory_representation_waypoints_t, vel_y) }, \
  57          { "vel_z", NULL, MAVLINK_TYPE_FLOAT, 5, 108, offsetof(mavlink_trajectory_representation_waypoints_t, vel_z) }, \
  58          { "acc_x", NULL, MAVLINK_TYPE_FLOAT, 5, 128, offsetof(mavlink_trajectory_representation_waypoints_t, acc_x) }, \
  59          { "acc_y", NULL, MAVLINK_TYPE_FLOAT, 5, 148, offsetof(mavlink_trajectory_representation_waypoints_t, acc_y) }, \
  60          { "acc_z", NULL, MAVLINK_TYPE_FLOAT, 5, 168, offsetof(mavlink_trajectory_representation_waypoints_t, acc_z) }, \
  61          { "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 188, offsetof(mavlink_trajectory_representation_waypoints_t, pos_yaw) }, \
  62          { "vel_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 208, offsetof(mavlink_trajectory_representation_waypoints_t, vel_yaw) }, \
  63          { "command", NULL, MAVLINK_TYPE_UINT16_T, 5, 228, offsetof(mavlink_trajectory_representation_waypoints_t, command) }, \
  64          } \
  65 }
  66 #else
  67 #define MAVLINK_MESSAGE_INFO_TRAJECTORY_REPRESENTATION_WAYPOINTS { \
  68     "TRAJECTORY_REPRESENTATION_WAYPOINTS", \
  69     14, \
  70     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_trajectory_representation_waypoints_t, time_usec) }, \
  71          { "valid_points", NULL, MAVLINK_TYPE_UINT8_T, 0, 238, offsetof(mavlink_trajectory_representation_waypoints_t, valid_points) }, \
  72          { "pos_x", NULL, MAVLINK_TYPE_FLOAT, 5, 8, offsetof(mavlink_trajectory_representation_waypoints_t, pos_x) }, \
  73          { "pos_y", NULL, MAVLINK_TYPE_FLOAT, 5, 28, offsetof(mavlink_trajectory_representation_waypoints_t, pos_y) }, \
  74          { "pos_z", NULL, MAVLINK_TYPE_FLOAT, 5, 48, offsetof(mavlink_trajectory_representation_waypoints_t, pos_z) }, \
  75          { "vel_x", NULL, MAVLINK_TYPE_FLOAT, 5, 68, offsetof(mavlink_trajectory_representation_waypoints_t, vel_x) }, \
  76          { "vel_y", NULL, MAVLINK_TYPE_FLOAT, 5, 88, offsetof(mavlink_trajectory_representation_waypoints_t, vel_y) }, \
  77          { "vel_z", NULL, MAVLINK_TYPE_FLOAT, 5, 108, offsetof(mavlink_trajectory_representation_waypoints_t, vel_z) }, \
  78          { "acc_x", NULL, MAVLINK_TYPE_FLOAT, 5, 128, offsetof(mavlink_trajectory_representation_waypoints_t, acc_x) }, \
  79          { "acc_y", NULL, MAVLINK_TYPE_FLOAT, 5, 148, offsetof(mavlink_trajectory_representation_waypoints_t, acc_y) }, \
  80          { "acc_z", NULL, MAVLINK_TYPE_FLOAT, 5, 168, offsetof(mavlink_trajectory_representation_waypoints_t, acc_z) }, \
  81          { "pos_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 188, offsetof(mavlink_trajectory_representation_waypoints_t, pos_yaw) }, \
  82          { "vel_yaw", NULL, MAVLINK_TYPE_FLOAT, 5, 208, offsetof(mavlink_trajectory_representation_waypoints_t, vel_yaw) }, \
  83          { "command", NULL, MAVLINK_TYPE_UINT16_T, 5, 228, offsetof(mavlink_trajectory_representation_waypoints_t, command) }, \
  84          } \
  85 }
  86 #endif
  87
  88 /**
  89  * @brief Pack a trajectory_representation_waypoints message
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param msg The MAVLink message to compress the data into
  93  *
  94  * @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.
  95  * @param valid_points  Number of valid points (up-to 5 waypoints are possible)
  96  * @param pos_x [m] X-coordinate of waypoint, set to NaN if not being used
  97  * @param pos_y [m] Y-coordinate of waypoint, set to NaN if not being used
  98  * @param pos_z [m] Z-coordinate of waypoint, set to NaN if not being used
  99  * @param vel_x [m/s] X-velocity of waypoint, set to NaN if not being used
 100  * @param vel_y [m/s] Y-velocity of waypoint, set to NaN if not being used
 101  * @param vel_z [m/s] Z-velocity of waypoint, set to NaN if not being used
 102  * @param acc_x [m/s/s] X-acceleration of waypoint, set to NaN if not being used
 103  * @param acc_y [m/s/s] Y-acceleration of waypoint, set to NaN if not being used
 104  * @param acc_z [m/s/s] Z-acceleration of waypoint, set to NaN if not being used
 105  * @param pos_yaw [rad] Yaw angle, set to NaN if not being used
 106  * @param vel_yaw [rad/s] Yaw rate, set to NaN if not being used
 107  * @param command  Scheduled action for each waypoint, UINT16_MAX if not being used.
 108  * @return length of the message in bytes (excluding serial stream start sign)
 109  */
 110 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 111                                uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *vel_x, const float *vel_y, const float *vel_z, const float *acc_x, const float *acc_y, const float *acc_z, const float *pos_yaw, const float *vel_yaw, const uint16_t *command)
 112 {
 113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 114     char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN];
 115     _mav_put_uint64_t(buf, 0, time_usec);
 116     _mav_put_uint8_t(buf, 238, valid_points);
 117     _mav_put_float_array(buf, 8, pos_x, 5);
 118     _mav_put_float_array(buf, 28, pos_y, 5);
 119     _mav_put_float_array(buf, 48, pos_z, 5);
 120     _mav_put_float_array(buf, 68, vel_x, 5);
 121     _mav_put_float_array(buf, 88, vel_y, 5);
 122     _mav_put_float_array(buf, 108, vel_z, 5);
 123     _mav_put_float_array(buf, 128, acc_x, 5);
 124     _mav_put_float_array(buf, 148, acc_y, 5);
 125     _mav_put_float_array(buf, 168, acc_z, 5);
 126     _mav_put_float_array(buf, 188, pos_yaw, 5);
 127     _mav_put_float_array(buf, 208, vel_yaw, 5);
 128     _mav_put_uint16_t_array(buf, 228, command, 5);
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN);
 130 #else
 131     mavlink_trajectory_representation_waypoints_t packet;
 132     packet.time_usec = time_usec;
 133     packet.valid_points = valid_points;
 134     mav_array_memcpy(packet.pos_x, pos_x, sizeof(float)*5);
 135     mav_array_memcpy(packet.pos_y, pos_y, sizeof(float)*5);
 136     mav_array_memcpy(packet.pos_z, pos_z, sizeof(float)*5);
 137     mav_array_memcpy(packet.vel_x, vel_x, sizeof(float)*5);
 138     mav_array_memcpy(packet.vel_y, vel_y, sizeof(float)*5);
 139     mav_array_memcpy(packet.vel_z, vel_z, sizeof(float)*5);
 140     mav_array_memcpy(packet.acc_x, acc_x, sizeof(float)*5);
 141     mav_array_memcpy(packet.acc_y, acc_y, sizeof(float)*5);
 142     mav_array_memcpy(packet.acc_z, acc_z, sizeof(float)*5);
 143     mav_array_memcpy(packet.pos_yaw, pos_yaw, sizeof(float)*5);
 144     mav_array_memcpy(packet.vel_yaw, vel_yaw, sizeof(float)*5);
 145     mav_array_memcpy(packet.command, command, sizeof(uint16_t)*5);
 146         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN);
 147 #endif
 148
 149     msg->msgid = MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS;
 150     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 151 }
 152
 153 /**
 154  * @brief Pack a trajectory_representation_waypoints message on a channel
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param chan The MAVLink channel this message will be sent over
 158  * @param msg The MAVLink message to compress the data into
 159  * @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.
 160  * @param valid_points  Number of valid points (up-to 5 waypoints are possible)
 161  * @param pos_x [m] X-coordinate of waypoint, set to NaN if not being used
 162  * @param pos_y [m] Y-coordinate of waypoint, set to NaN if not being used
 163  * @param pos_z [m] Z-coordinate of waypoint, set to NaN if not being used
 164  * @param vel_x [m/s] X-velocity of waypoint, set to NaN if not being used
 165  * @param vel_y [m/s] Y-velocity of waypoint, set to NaN if not being used
 166  * @param vel_z [m/s] Z-velocity of waypoint, set to NaN if not being used
 167  * @param acc_x [m/s/s] X-acceleration of waypoint, set to NaN if not being used
 168  * @param acc_y [m/s/s] Y-acceleration of waypoint, set to NaN if not being used
 169  * @param acc_z [m/s/s] Z-acceleration of waypoint, set to NaN if not being used
 170  * @param pos_yaw [rad] Yaw angle, set to NaN if not being used
 171  * @param vel_yaw [rad/s] Yaw rate, set to NaN if not being used
 172  * @param command  Scheduled action for each waypoint, UINT16_MAX if not being used.
 173  * @return length of the message in bytes (excluding serial stream start sign)
 174  */
 175 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 176                                mavlink_message_t* msg,
 177                                    uint64_t time_usec,uint8_t valid_points,const float *pos_x,const float *pos_y,const float *pos_z,const float *vel_x,const float *vel_y,const float *vel_z,const float *acc_x,const float *acc_y,const float *acc_z,const float *pos_yaw,const float *vel_yaw,const uint16_t *command)
 178 {
 179 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180     char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN];
 181     _mav_put_uint64_t(buf, 0, time_usec);
 182     _mav_put_uint8_t(buf, 238, valid_points);
 183     _mav_put_float_array(buf, 8, pos_x, 5);
 184     _mav_put_float_array(buf, 28, pos_y, 5);
 185     _mav_put_float_array(buf, 48, pos_z, 5);
 186     _mav_put_float_array(buf, 68, vel_x, 5);
 187     _mav_put_float_array(buf, 88, vel_y, 5);
 188     _mav_put_float_array(buf, 108, vel_z, 5);
 189     _mav_put_float_array(buf, 128, acc_x, 5);
 190     _mav_put_float_array(buf, 148, acc_y, 5);
 191     _mav_put_float_array(buf, 168, acc_z, 5);
 192     _mav_put_float_array(buf, 188, pos_yaw, 5);
 193     _mav_put_float_array(buf, 208, vel_yaw, 5);
 194     _mav_put_uint16_t_array(buf, 228, command, 5);
 195         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN);
 196 #else
 197     mavlink_trajectory_representation_waypoints_t packet;
 198     packet.time_usec = time_usec;
 199     packet.valid_points = valid_points;
 200     mav_array_memcpy(packet.pos_x, pos_x, sizeof(float)*5);
 201     mav_array_memcpy(packet.pos_y, pos_y, sizeof(float)*5);
 202     mav_array_memcpy(packet.pos_z, pos_z, sizeof(float)*5);
 203     mav_array_memcpy(packet.vel_x, vel_x, sizeof(float)*5);
 204     mav_array_memcpy(packet.vel_y, vel_y, sizeof(float)*5);
 205     mav_array_memcpy(packet.vel_z, vel_z, sizeof(float)*5);
 206     mav_array_memcpy(packet.acc_x, acc_x, sizeof(float)*5);
 207     mav_array_memcpy(packet.acc_y, acc_y, sizeof(float)*5);
 208     mav_array_memcpy(packet.acc_z, acc_z, sizeof(float)*5);
 209     mav_array_memcpy(packet.pos_yaw, pos_yaw, sizeof(float)*5);
 210     mav_array_memcpy(packet.vel_yaw, vel_yaw, sizeof(float)*5);
 211     mav_array_memcpy(packet.command, command, sizeof(uint16_t)*5);
 212         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN);
 213 #endif
 214
 215     msg->msgid = MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS;
 216     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 217 }
 218
 219 /**
 220  * @brief Encode a trajectory_representation_waypoints struct
 221  *
 222  * @param system_id ID of this system
 223  * @param component_id ID of this component (e.g. 200 for IMU)
 224  * @param msg The MAVLink message to compress the data into
 225  * @param trajectory_representation_waypoints C-struct to read the message contents from
 226  */
 227 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_trajectory_representation_waypoints_t* trajectory_representation_waypoints)
 228 {
 229     return mavlink_msg_trajectory_representation_waypoints_pack(system_id, component_id, msg, trajectory_representation_waypoints->time_usec, trajectory_representation_waypoints->valid_points, trajectory_representation_waypoints->pos_x, trajectory_representation_waypoints->pos_y, trajectory_representation_waypoints->pos_z, trajectory_representation_waypoints->vel_x, trajectory_representation_waypoints->vel_y, trajectory_representation_waypoints->vel_z, trajectory_representation_waypoints->acc_x, trajectory_representation_waypoints->acc_y, trajectory_representation_waypoints->acc_z, trajectory_representation_waypoints->pos_yaw, trajectory_representation_waypoints->vel_yaw, trajectory_representation_waypoints->command);
 230 }
 231
 232 /**
 233  * @brief Encode a trajectory_representation_waypoints struct on a channel
 234  *
 235  * @param system_id ID of this system
 236  * @param component_id ID of this component (e.g. 200 for IMU)
 237  * @param chan The MAVLink channel this message will be sent over
 238  * @param msg The MAVLink message to compress the data into
 239  * @param trajectory_representation_waypoints C-struct to read the message contents from
 240  */
 241 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_trajectory_representation_waypoints_t* trajectory_representation_waypoints)
 242 {
 243     return mavlink_msg_trajectory_representation_waypoints_pack_chan(system_id, component_id, chan, msg, trajectory_representation_waypoints->time_usec, trajectory_representation_waypoints->valid_points, trajectory_representation_waypoints->pos_x, trajectory_representation_waypoints->pos_y, trajectory_representation_waypoints->pos_z, trajectory_representation_waypoints->vel_x, trajectory_representation_waypoints->vel_y, trajectory_representation_waypoints->vel_z, trajectory_representation_waypoints->acc_x, trajectory_representation_waypoints->acc_y, trajectory_representation_waypoints->acc_z, trajectory_representation_waypoints->pos_yaw, trajectory_representation_waypoints->vel_yaw, trajectory_representation_waypoints->command);
 244 }
 245
 246 /**
 247  * @brief Send a trajectory_representation_waypoints message
 248  * @param chan MAVLink channel to send the message
 249  *
 250  * @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.
 251  * @param valid_points  Number of valid points (up-to 5 waypoints are possible)
 252  * @param pos_x [m] X-coordinate of waypoint, set to NaN if not being used
 253  * @param pos_y [m] Y-coordinate of waypoint, set to NaN if not being used
 254  * @param pos_z [m] Z-coordinate of waypoint, set to NaN if not being used
 255  * @param vel_x [m/s] X-velocity of waypoint, set to NaN if not being used
 256  * @param vel_y [m/s] Y-velocity of waypoint, set to NaN if not being used
 257  * @param vel_z [m/s] Z-velocity of waypoint, set to NaN if not being used
 258  * @param acc_x [m/s/s] X-acceleration of waypoint, set to NaN if not being used
 259  * @param acc_y [m/s/s] Y-acceleration of waypoint, set to NaN if not being used
 260  * @param acc_z [m/s/s] Z-acceleration of waypoint, set to NaN if not being used
 261  * @param pos_yaw [rad] Yaw angle, set to NaN if not being used
 262  * @param vel_yaw [rad/s] Yaw rate, set to NaN if not being used
 263  * @param command  Scheduled action for each waypoint, UINT16_MAX if not being used.
 264  */
 265 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 266
 267 static inline void mavlink_msg_trajectory_representation_waypoints_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *vel_x, const float *vel_y, const float *vel_z, const float *acc_x, const float *acc_y, const float *acc_z, const float *pos_yaw, const float *vel_yaw, const uint16_t *command)
 268 {
 269 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 270     char buf[MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN];
 271     _mav_put_uint64_t(buf, 0, time_usec);
 272     _mav_put_uint8_t(buf, 238, valid_points);
 273     _mav_put_float_array(buf, 8, pos_x, 5);
 274     _mav_put_float_array(buf, 28, pos_y, 5);
 275     _mav_put_float_array(buf, 48, pos_z, 5);
 276     _mav_put_float_array(buf, 68, vel_x, 5);
 277     _mav_put_float_array(buf, 88, vel_y, 5);
 278     _mav_put_float_array(buf, 108, vel_z, 5);
 279     _mav_put_float_array(buf, 128, acc_x, 5);
 280     _mav_put_float_array(buf, 148, acc_y, 5);
 281     _mav_put_float_array(buf, 168, acc_z, 5);
 282     _mav_put_float_array(buf, 188, pos_yaw, 5);
 283     _mav_put_float_array(buf, 208, vel_yaw, 5);
 284     _mav_put_uint16_t_array(buf, 228, command, 5);
 285     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS, buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 286 #else
 287     mavlink_trajectory_representation_waypoints_t packet;
 288     packet.time_usec = time_usec;
 289     packet.valid_points = valid_points;
 290     mav_array_memcpy(packet.pos_x, pos_x, sizeof(float)*5);
 291     mav_array_memcpy(packet.pos_y, pos_y, sizeof(float)*5);
 292     mav_array_memcpy(packet.pos_z, pos_z, sizeof(float)*5);
 293     mav_array_memcpy(packet.vel_x, vel_x, sizeof(float)*5);
 294     mav_array_memcpy(packet.vel_y, vel_y, sizeof(float)*5);
 295     mav_array_memcpy(packet.vel_z, vel_z, sizeof(float)*5);
 296     mav_array_memcpy(packet.acc_x, acc_x, sizeof(float)*5);
 297     mav_array_memcpy(packet.acc_y, acc_y, sizeof(float)*5);
 298     mav_array_memcpy(packet.acc_z, acc_z, sizeof(float)*5);
 299     mav_array_memcpy(packet.pos_yaw, pos_yaw, sizeof(float)*5);
 300     mav_array_memcpy(packet.vel_yaw, vel_yaw, sizeof(float)*5);
 301     mav_array_memcpy(packet.command, command, sizeof(uint16_t)*5);
 302     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS, (const char *)&packet, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 303 #endif
 304 }
 305
 306 /**
 307  * @brief Send a trajectory_representation_waypoints message
 308  * @param chan MAVLink channel to send the message
 309  * @param struct The MAVLink struct to serialize
 310  */
 311 static inline void mavlink_msg_trajectory_representation_waypoints_send_struct(mavlink_channel_t chan, const mavlink_trajectory_representation_waypoints_t* trajectory_representation_waypoints)
 312 {
 313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 314     mavlink_msg_trajectory_representation_waypoints_send(chan, trajectory_representation_waypoints->time_usec, trajectory_representation_waypoints->valid_points, trajectory_representation_waypoints->pos_x, trajectory_representation_waypoints->pos_y, trajectory_representation_waypoints->pos_z, trajectory_representation_waypoints->vel_x, trajectory_representation_waypoints->vel_y, trajectory_representation_waypoints->vel_z, trajectory_representation_waypoints->acc_x, trajectory_representation_waypoints->acc_y, trajectory_representation_waypoints->acc_z, trajectory_representation_waypoints->pos_yaw, trajectory_representation_waypoints->vel_yaw, trajectory_representation_waypoints->command);
 315 #else
 316     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS, (const char *)trajectory_representation_waypoints, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 317 #endif
 318 }
 319
 320 #if MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 321 /*
 322   This varient of _send() can be used to save stack space by re-using
 323   memory from the receive buffer.  The caller provides a
 324   mavlink_message_t which is the size of a full mavlink message. This
 325   is usually the receive buffer for the channel, and allows a reply to an
 326   incoming message with minimum stack space usage.
 327  */
 328 static inline void mavlink_msg_trajectory_representation_waypoints_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t valid_points, const float *pos_x, const float *pos_y, const float *pos_z, const float *vel_x, const float *vel_y, const float *vel_z, const float *acc_x, const float *acc_y, const float *acc_z, const float *pos_yaw, const float *vel_yaw, const uint16_t *command)
 329 {
 330 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 331     char *buf = (char *)msgbuf;
 332     _mav_put_uint64_t(buf, 0, time_usec);
 333     _mav_put_uint8_t(buf, 238, valid_points);
 334     _mav_put_float_array(buf, 8, pos_x, 5);
 335     _mav_put_float_array(buf, 28, pos_y, 5);
 336     _mav_put_float_array(buf, 48, pos_z, 5);
 337     _mav_put_float_array(buf, 68, vel_x, 5);
 338     _mav_put_float_array(buf, 88, vel_y, 5);
 339     _mav_put_float_array(buf, 108, vel_z, 5);
 340     _mav_put_float_array(buf, 128, acc_x, 5);
 341     _mav_put_float_array(buf, 148, acc_y, 5);
 342     _mav_put_float_array(buf, 168, acc_z, 5);
 343     _mav_put_float_array(buf, 188, pos_yaw, 5);
 344     _mav_put_float_array(buf, 208, vel_yaw, 5);
 345     _mav_put_uint16_t_array(buf, 228, command, 5);
 346     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS, buf, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 347 #else
 348     mavlink_trajectory_representation_waypoints_t *packet = (mavlink_trajectory_representation_waypoints_t *)msgbuf;
 349     packet->time_usec = time_usec;
 350     packet->valid_points = valid_points;
 351     mav_array_memcpy(packet->pos_x, pos_x, sizeof(float)*5);
 352     mav_array_memcpy(packet->pos_y, pos_y, sizeof(float)*5);
 353     mav_array_memcpy(packet->pos_z, pos_z, sizeof(float)*5);
 354     mav_array_memcpy(packet->vel_x, vel_x, sizeof(float)*5);
 355     mav_array_memcpy(packet->vel_y, vel_y, sizeof(float)*5);
 356     mav_array_memcpy(packet->vel_z, vel_z, sizeof(float)*5);
 357     mav_array_memcpy(packet->acc_x, acc_x, sizeof(float)*5);
 358     mav_array_memcpy(packet->acc_y, acc_y, sizeof(float)*5);
 359     mav_array_memcpy(packet->acc_z, acc_z, sizeof(float)*5);
 360     mav_array_memcpy(packet->pos_yaw, pos_yaw, sizeof(float)*5);
 361     mav_array_memcpy(packet->vel_yaw, vel_yaw, sizeof(float)*5);
 362     mav_array_memcpy(packet->command, command, sizeof(uint16_t)*5);
 363     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS, (const char *)packet, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_MIN_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_CRC);
 364 #endif
 365 }
 366 #endif
 367
 368 #endif
 369
 370 // MESSAGE TRAJECTORY_REPRESENTATION_WAYPOINTS UNPACKING
 371
 372
 373 /**
 374  * @brief Get field time_usec from trajectory_representation_waypoints message
 375  *
 376  * @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.
 377  */
 378 static inline uint64_t mavlink_msg_trajectory_representation_waypoints_get_time_usec(const mavlink_message_t* msg)
 379 {
 380     return _MAV_RETURN_uint64_t(msg,  0);
 381 }
 382
 383 /**
 384  * @brief Get field valid_points from trajectory_representation_waypoints message
 385  *
 386  * @return  Number of valid points (up-to 5 waypoints are possible)
 387  */
 388 static inline uint8_t mavlink_msg_trajectory_representation_waypoints_get_valid_points(const mavlink_message_t* msg)
 389 {
 390     return _MAV_RETURN_uint8_t(msg,  238);
 391 }
 392
 393 /**
 394  * @brief Get field pos_x from trajectory_representation_waypoints message
 395  *
 396  * @return [m] X-coordinate of waypoint, set to NaN if not being used
 397  */
 398 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_pos_x(const mavlink_message_t* msg, float *pos_x)
 399 {
 400     return _MAV_RETURN_float_array(msg, pos_x, 5,  8);
 401 }
 402
 403 /**
 404  * @brief Get field pos_y from trajectory_representation_waypoints message
 405  *
 406  * @return [m] Y-coordinate of waypoint, set to NaN if not being used
 407  */
 408 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_pos_y(const mavlink_message_t* msg, float *pos_y)
 409 {
 410     return _MAV_RETURN_float_array(msg, pos_y, 5,  28);
 411 }
 412
 413 /**
 414  * @brief Get field pos_z from trajectory_representation_waypoints message
 415  *
 416  * @return [m] Z-coordinate of waypoint, set to NaN if not being used
 417  */
 418 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_pos_z(const mavlink_message_t* msg, float *pos_z)
 419 {
 420     return _MAV_RETURN_float_array(msg, pos_z, 5,  48);
 421 }
 422
 423 /**
 424  * @brief Get field vel_x from trajectory_representation_waypoints message
 425  *
 426  * @return [m/s] X-velocity of waypoint, set to NaN if not being used
 427  */
 428 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_vel_x(const mavlink_message_t* msg, float *vel_x)
 429 {
 430     return _MAV_RETURN_float_array(msg, vel_x, 5,  68);
 431 }
 432
 433 /**
 434  * @brief Get field vel_y from trajectory_representation_waypoints message
 435  *
 436  * @return [m/s] Y-velocity of waypoint, set to NaN if not being used
 437  */
 438 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_vel_y(const mavlink_message_t* msg, float *vel_y)
 439 {
 440     return _MAV_RETURN_float_array(msg, vel_y, 5,  88);
 441 }
 442
 443 /**
 444  * @brief Get field vel_z from trajectory_representation_waypoints message
 445  *
 446  * @return [m/s] Z-velocity of waypoint, set to NaN if not being used
 447  */
 448 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_vel_z(const mavlink_message_t* msg, float *vel_z)
 449 {
 450     return _MAV_RETURN_float_array(msg, vel_z, 5,  108);
 451 }
 452
 453 /**
 454  * @brief Get field acc_x from trajectory_representation_waypoints message
 455  *
 456  * @return [m/s/s] X-acceleration of waypoint, set to NaN if not being used
 457  */
 458 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_acc_x(const mavlink_message_t* msg, float *acc_x)
 459 {
 460     return _MAV_RETURN_float_array(msg, acc_x, 5,  128);
 461 }
 462
 463 /**
 464  * @brief Get field acc_y from trajectory_representation_waypoints message
 465  *
 466  * @return [m/s/s] Y-acceleration of waypoint, set to NaN if not being used
 467  */
 468 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_acc_y(const mavlink_message_t* msg, float *acc_y)
 469 {
 470     return _MAV_RETURN_float_array(msg, acc_y, 5,  148);
 471 }
 472
 473 /**
 474  * @brief Get field acc_z from trajectory_representation_waypoints message
 475  *
 476  * @return [m/s/s] Z-acceleration of waypoint, set to NaN if not being used
 477  */
 478 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_acc_z(const mavlink_message_t* msg, float *acc_z)
 479 {
 480     return _MAV_RETURN_float_array(msg, acc_z, 5,  168);
 481 }
 482
 483 /**
 484  * @brief Get field pos_yaw from trajectory_representation_waypoints message
 485  *
 486  * @return [rad] Yaw angle, set to NaN if not being used
 487  */
 488 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_pos_yaw(const mavlink_message_t* msg, float *pos_yaw)
 489 {
 490     return _MAV_RETURN_float_array(msg, pos_yaw, 5,  188);
 491 }
 492
 493 /**
 494  * @brief Get field vel_yaw from trajectory_representation_waypoints message
 495  *
 496  * @return [rad/s] Yaw rate, set to NaN if not being used
 497  */
 498 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_vel_yaw(const mavlink_message_t* msg, float *vel_yaw)
 499 {
 500     return _MAV_RETURN_float_array(msg, vel_yaw, 5,  208);
 501 }
 502
 503 /**
 504  * @brief Get field command from trajectory_representation_waypoints message
 505  *
 506  * @return  Scheduled action for each waypoint, UINT16_MAX if not being used.
 507  */
 508 static inline uint16_t mavlink_msg_trajectory_representation_waypoints_get_command(const mavlink_message_t* msg, uint16_t *command)
 509 {
 510     return _MAV_RETURN_uint16_t_array(msg, command, 5,  228);
 511 }
 512
 513 /**
 514  * @brief Decode a trajectory_representation_waypoints message into a struct
 515  *
 516  * @param msg The message to decode
 517  * @param trajectory_representation_waypoints C-struct to decode the message contents into
 518  */
 519 static inline void mavlink_msg_trajectory_representation_waypoints_decode(const mavlink_message_t* msg, mavlink_trajectory_representation_waypoints_t* trajectory_representation_waypoints)
 520 {
 521 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 522     trajectory_representation_waypoints->time_usec = mavlink_msg_trajectory_representation_waypoints_get_time_usec(msg);
 523     mavlink_msg_trajectory_representation_waypoints_get_pos_x(msg, trajectory_representation_waypoints->pos_x);
 524     mavlink_msg_trajectory_representation_waypoints_get_pos_y(msg, trajectory_representation_waypoints->pos_y);
 525     mavlink_msg_trajectory_representation_waypoints_get_pos_z(msg, trajectory_representation_waypoints->pos_z);
 526     mavlink_msg_trajectory_representation_waypoints_get_vel_x(msg, trajectory_representation_waypoints->vel_x);
 527     mavlink_msg_trajectory_representation_waypoints_get_vel_y(msg, trajectory_representation_waypoints->vel_y);
 528     mavlink_msg_trajectory_representation_waypoints_get_vel_z(msg, trajectory_representation_waypoints->vel_z);
 529     mavlink_msg_trajectory_representation_waypoints_get_acc_x(msg, trajectory_representation_waypoints->acc_x);
 530     mavlink_msg_trajectory_representation_waypoints_get_acc_y(msg, trajectory_representation_waypoints->acc_y);
 531     mavlink_msg_trajectory_representation_waypoints_get_acc_z(msg, trajectory_representation_waypoints->acc_z);
 532     mavlink_msg_trajectory_representation_waypoints_get_pos_yaw(msg, trajectory_representation_waypoints->pos_yaw);
 533     mavlink_msg_trajectory_representation_waypoints_get_vel_yaw(msg, trajectory_representation_waypoints->vel_yaw);
 534     mavlink_msg_trajectory_representation_waypoints_get_command(msg, trajectory_representation_waypoints->command);
 535     trajectory_representation_waypoints->valid_points = mavlink_msg_trajectory_representation_waypoints_get_valid_points(msg);
 536 #else
 537         uint8_t len = msg->len < MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN? msg->len : MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN;
 538         memset(trajectory_representation_waypoints, 0, MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN);
 539     memcpy(trajectory_representation_waypoints, _MAV_PAYLOAD(msg), len);
 540 #endif
 541 }