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// MESSAGE POSITION_CONTROL_SETPOINT PACKING
#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 170
typedef struct __mavlink_position_control_setpoint_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< yaw orientation in radians, 0 = NORTH
uint16_t id; ///< ID of waypoint, 0 for plain position
} mavlink_position_control_setpoint_t;
#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN 18
#define MAVLINK_MSG_ID_170_LEN 18
#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC 28
#define MAVLINK_MSG_ID_170_CRC 28
#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT { \
"POSITION_CONTROL_SETPOINT", \
5, \
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_setpoint_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_t, z) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_t, yaw) }, \
{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_position_control_setpoint_t, id) }, \
} \
}
/**
* @brief Pack a position_control_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 id ID of waypoint, 0 for plain position
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t id, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint16_t(buf, 16, id);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#else
mavlink_position_control_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.id = id;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
}
/**
* @brief Pack a position_control_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 id ID of waypoint, 0 for plain position
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t id,float x,float y,float z,float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint16_t(buf, 16, id);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#else
mavlink_position_control_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.id = id;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
}
/**
* @brief Encode a position_control_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 position_control_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
{
return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
}
/**
* @brief Encode a position_control_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 position_control_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_position_control_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
{
return mavlink_msg_position_control_setpoint_pack_chan(system_id, component_id, chan, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
}
/**
* @brief Send a position_control_setpoint message
* @param chan MAVLink channel to send the message
*
* @param id ID of waypoint, 0 for plain position
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_put_uint16_t(buf, 16, id);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
#else
mavlink_position_control_setpoint_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
packet.id = id;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
#endif
}
#endif
// MESSAGE POSITION_CONTROL_SETPOINT UNPACKING
/**
* @brief Get field id from position_control_setpoint message
*
* @return ID of waypoint, 0 for plain position
*/
static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 16);
}
/**
* @brief Get field x from position_control_setpoint message
*
* @return x position
*/
static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field y from position_control_setpoint message
*
* @return y position
*/
static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field z from position_control_setpoint message
*
* @return z position
*/
static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from position_control_setpoint message
*
* @return yaw orientation in radians, 0 = NORTH
*/
static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a position_control_setpoint message into a struct
*
* @param msg The message to decode
* @param position_control_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg);
position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg);
position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg);
position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg);
position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg);
#else
memcpy(position_control_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
#endif
}
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