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// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57
typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
{
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
float roll; ///< Desired roll angle in radians
float pitch; ///< Desired pitch angle in radians
float yaw; ///< Desired yaw angle in radians
float thrust; ///< Collective thrust, normalized to 0 .. 1
} mavlink_roll_pitch_yaw_thrust_setpoint_t;
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 24
#define MAVLINK_MSG_ID_57_LEN 24
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \
"ROLL_PITCH_YAW_THRUST_SETPOINT", \
5, \
{ { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_us) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \
} \
}
/**
* @brief Pack a roll_pitch_yaw_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_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @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_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
return mavlink_finalize_message(msg, system_id, component_id, 24);
}
/**
* @brief Pack a roll_pitch_yaw_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 was sent over
* @param msg The MAVLink message to compress the data into
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @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_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_us,float roll,float pitch,float yaw,float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
#endif
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24);
}
/**
* @brief Encode a roll_pitch_yaw_thrust_setpoint struct into a 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 roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
}
/**
* @brief Send a roll_pitch_yaw_thrust_setpoint message
* @param chan MAVLink channel to send the message
*
* @param time_us Timestamp in micro seconds since unix epoch
* @param roll Desired roll angle in radians
* @param pitch Desired pitch angle in radians
* @param yaw Desired yaw angle in radians
* @param thrust Collective thrust, normalized to 0 .. 1
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[24];
_mav_put_uint64_t(buf, 0, time_us);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, thrust);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 24);
#else
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
packet.time_us = time_us;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.thrust = thrust;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 24);
#endif
}
#endif
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
/**
* @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message
*
* @return Timestamp in micro seconds since unix epoch
*/
static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field roll from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired roll angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired pitch angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message
*
* @return Desired yaw angle in radians
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message
*
* @return Collective thrust, normalized to 0 .. 1
*/
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct
*
* @param msg The message to decode
* @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into
*/
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
{
#if MAVLINK_NEED_BYTE_SWAP
roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg);
roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
#else
memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 24);
#endif
}
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