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// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 59
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
{
uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
float roll_speed; ///< Desired roll angular speed in rad/s
float pitch_speed; ///< Desired pitch angular speed in rad/s
float yaw_speed; ///< Desired yaw angular speed in rad/s
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 20
#define MAVLINK_MSG_ID_59_LEN 20
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC 238
#define MAVLINK_MSG_ID_59_CRC 238
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
5, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_boot_ms) }, \
{ "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
{ "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
{ "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
} \
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
}
/**
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
}
/**
* @brief Encode a roll_pitch_yaw_speed_thrust_setpoint 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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
}
/**
* @brief Encode a roll_pitch_yaw_speed_thrust_setpoint 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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, chan, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp in milliseconds since system boot
* @param roll_speed Desired roll angular speed in rad/s
* @param pitch_speed Desired pitch angular speed in rad/s
* @param yaw_speed Desired yaw angular speed in rad/s
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll_speed);
_mav_put_float(buf, 8, pitch_speed);
_mav_put_float(buf, 12, yaw_speed);
_mav_put_float(buf, 16, thrust);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
#else
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll_speed = roll_speed;
packet.pitch_speed = pitch_speed;
packet.yaw_speed = yaw_speed;
packet.thrust = thrust;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_boot_ms from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Timestamp in milliseconds since system boot
*/
static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired roll angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired pitch angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Desired yaw angular speed in rad/s
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(msg);
roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
#else
memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
#endif
}
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