#pragma once // MESSAGE HIL_STATE PACKING #define MAVLINK_MSG_ID_HIL_STATE 90 MAVPACKED( typedef struct __mavlink_hil_state_t { uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/ float roll; /*< Roll angle (rad)*/ float pitch; /*< Pitch angle (rad)*/ float yaw; /*< Yaw angle (rad)*/ float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/ float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/ float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/ int32_t lat; /*< Latitude, expressed as degrees * 1E7*/ int32_t lon; /*< Longitude, expressed as degrees * 1E7*/ int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/ int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/ int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/ int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/ int16_t xacc; /*< X acceleration (mg)*/ int16_t yacc; /*< Y acceleration (mg)*/ int16_t zacc; /*< Z acceleration (mg)*/ }) mavlink_hil_state_t; #define MAVLINK_MSG_ID_HIL_STATE_LEN 56 #define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56 #define MAVLINK_MSG_ID_90_LEN 56 #define MAVLINK_MSG_ID_90_MIN_LEN 56 #define MAVLINK_MSG_ID_HIL_STATE_CRC 183 #define MAVLINK_MSG_ID_90_CRC 183 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ 90, \ "HIL_STATE", \ 16, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ "HIL_STATE", \ 16, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ } \ } #endif /** * @brief Pack a hil_state message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) * @param rollspeed Body frame roll / phi angular speed (rad/s) * @param pitchspeed Body frame pitch / theta angular speed (rad/s) * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll); _mav_put_float(buf, 12, pitch); _mav_put_float(buf, 16, yaw); _mav_put_float(buf, 20, rollspeed); _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); _mav_put_int32_t(buf, 32, lat); _mav_put_int32_t(buf, 36, lon); _mav_put_int32_t(buf, 40, alt); _mav_put_int16_t(buf, 44, vx); _mav_put_int16_t(buf, 46, vy); _mav_put_int16_t(buf, 48, vz); _mav_put_int16_t(buf, 50, xacc); _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_STATE; 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); } /** * @brief Pack a hil_state message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) * @param rollspeed Body frame roll / phi angular speed (rad/s) * @param pitchspeed Body frame pitch / theta angular speed (rad/s) * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll); _mav_put_float(buf, 12, pitch); _mav_put_float(buf, 16, yaw); _mav_put_float(buf, 20, rollspeed); _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); _mav_put_int32_t(buf, 32, lat); _mav_put_int32_t(buf, 36, lon); _mav_put_int32_t(buf, 40, alt); _mav_put_int16_t(buf, 44, vx); _mav_put_int16_t(buf, 46, vy); _mav_put_int16_t(buf, 48, vz); _mav_put_int16_t(buf, 50, xacc); _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_STATE; 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); } /** * @brief Encode a hil_state struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param hil_state C-struct to read the message contents from */ 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) { 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); } /** * @brief Encode a hil_state struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param hil_state C-struct to read the message contents from */ 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) { 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); } /** * @brief Send a hil_state message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param roll Roll angle (rad) * @param pitch Pitch angle (rad) * @param yaw Yaw angle (rad) * @param rollspeed Body frame roll / phi angular speed (rad/s) * @param pitchspeed Body frame pitch / theta angular speed (rad/s) * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as degrees * 1E7 * @param lon Longitude, expressed as degrees * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll); _mav_put_float(buf, 12, pitch); _mav_put_float(buf, 16, yaw); _mav_put_float(buf, 20, rollspeed); _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); _mav_put_int32_t(buf, 32, lat); _mav_put_int32_t(buf, 36, lon); _mav_put_int32_t(buf, 40, alt); _mav_put_int16_t(buf, 44, vx); _mav_put_int16_t(buf, 46, vy); _mav_put_int16_t(buf, 48, vz); _mav_put_int16_t(buf, 50, xacc); _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); _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); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; _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); #endif } /** * @brief Send a hil_state message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 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); #else _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); #endif } #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, roll); _mav_put_float(buf, 12, pitch); _mav_put_float(buf, 16, yaw); _mav_put_float(buf, 20, rollspeed); _mav_put_float(buf, 24, pitchspeed); _mav_put_float(buf, 28, yawspeed); _mav_put_int32_t(buf, 32, lat); _mav_put_int32_t(buf, 36, lon); _mav_put_int32_t(buf, 40, alt); _mav_put_int16_t(buf, 44, vx); _mav_put_int16_t(buf, 46, vy); _mav_put_int16_t(buf, 48, vz); _mav_put_int16_t(buf, 50, xacc); _mav_put_int16_t(buf, 52, yacc); _mav_put_int16_t(buf, 54, zacc); _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); #else mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf; packet->time_usec = time_usec; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; packet->rollspeed = rollspeed; packet->pitchspeed = pitchspeed; packet->yawspeed = yawspeed; packet->lat = lat; packet->lon = lon; packet->alt = alt; packet->vx = vx; packet->vy = vy; packet->vz = vz; packet->xacc = xacc; packet->yacc = yacc; packet->zacc = zacc; _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); #endif } #endif #endif // MESSAGE HIL_STATE UNPACKING /** * @brief Get field time_usec from hil_state message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field roll from hil_state message * * @return Roll angle (rad) */ static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field pitch from hil_state message * * @return Pitch angle (rad) */ static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field yaw from hil_state message * * @return Yaw angle (rad) */ static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field rollspeed from hil_state message * * @return Body frame roll / phi angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field pitchspeed from hil_state message * * @return Body frame pitch / theta angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field yawspeed from hil_state message * * @return Body frame yaw / psi angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field lat from hil_state message * * @return Latitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 32); } /** * @brief Get field lon from hil_state message * * @return Longitude, expressed as degrees * 1E7 */ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 36); } /** * @brief Get field alt from hil_state message * * @return Altitude in meters, expressed as * 1000 (millimeters) */ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 40); } /** * @brief Get field vx from hil_state message * * @return Ground X Speed (Latitude), expressed as m/s * 100 */ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 44); } /** * @brief Get field vy from hil_state message * * @return Ground Y Speed (Longitude), expressed as m/s * 100 */ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 46); } /** * @brief Get field vz from hil_state message * * @return Ground Z Speed (Altitude), expressed as m/s * 100 */ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 48); } /** * @brief Get field xacc from hil_state message * * @return X acceleration (mg) */ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 50); } /** * @brief Get field yacc from hil_state message * * @return Y acceleration (mg) */ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 52); } /** * @brief Get field zacc from hil_state message * * @return Z acceleration (mg) */ static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 54); } /** * @brief Decode a hil_state message into a struct * * @param msg The message to decode * @param hil_state C-struct to decode the message contents into */ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg); hil_state->roll = mavlink_msg_hil_state_get_roll(msg); hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); hil_state->lat = mavlink_msg_hil_state_get_lat(msg); hil_state->lon = mavlink_msg_hil_state_get_lon(msg); hil_state->alt = mavlink_msg_hil_state_get_alt(msg); hil_state->vx = mavlink_msg_hil_state_get_vx(msg); hil_state->vy = mavlink_msg_hil_state_get_vy(msg); hil_state->vz = mavlink_msg_hil_state_get_vz(msg); hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN; memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN); memcpy(hil_state, _MAV_PAYLOAD(msg), len); #endif }