path: root/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h

// MESSAGE SIM_STATE PACKING

#define MAVLINK_MSG_ID_SIM_STATE 108

typedef struct __mavlink_sim_state_t
{
 float q1; ///< True attitude quaternion component 1
 float q2; ///< True attitude quaternion component 2
 float q3; ///< True attitude quaternion component 3
 float q4; ///< True attitude quaternion component 4
 float roll; ///< Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 float pitch; ///< Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 float yaw; ///< Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 float xacc; ///< X acceleration m/s/s
 float yacc; ///< Y acceleration m/s/s
 float zacc; ///< Z acceleration m/s/s
 float xgyro; ///< Angular speed around X axis rad/s
 float ygyro; ///< Angular speed around Y axis rad/s
 float zgyro; ///< Angular speed around Z axis rad/s
 float lat; ///< Latitude in degrees
 float lon; ///< Longitude in degrees
 float alt; ///< Altitude in meters
 float std_dev_horz; ///< Horizontal position standard deviation
 float std_dev_vert; ///< Vertical position standard deviation
 float vn; ///< True velocity in m/s in NORTH direction in earth-fixed NED frame
 float ve; ///< True velocity in m/s in EAST direction in earth-fixed NED frame
 float vd; ///< True velocity in m/s in DOWN direction in earth-fixed NED frame
} mavlink_sim_state_t;

#define MAVLINK_MSG_ID_SIM_STATE_LEN 84
#define MAVLINK_MSG_ID_108_LEN 84

#define MAVLINK_MSG_ID_SIM_STATE_CRC 32
#define MAVLINK_MSG_ID_108_CRC 32



#define MAVLINK_MESSAGE_INFO_SIM_STATE { \
	"SIM_STATE", \
	21, \
	{  { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, q1) }, \
         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, q2) }, \
         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, q3) }, \
         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, q4) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, yaw) }, \
         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_sim_state_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_sim_state_t, zgyro) }, \
         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_sim_state_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_sim_state_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_sim_state_t, alt) }, \
         { "std_dev_horz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_sim_state_t, std_dev_horz) }, \
         { "std_dev_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_sim_state_t, std_dev_vert) }, \
         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_sim_state_t, vn) }, \
         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_sim_state_t, ve) }, \
         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_sim_state_t, vd) }, \
         } \
}


/**
 * @brief Pack a sim_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 q1 True attitude quaternion component 1
 * @param q2 True attitude quaternion component 2
 * @param q3 True attitude quaternion component 3
 * @param q4 True attitude quaternion component 4
 * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc X acceleration m/s/s
 * @param yacc Y acceleration m/s/s
 * @param zacc Z acceleration m/s/s
 * @param xgyro Angular speed around X axis rad/s
 * @param ygyro Angular speed around Y axis rad/s
 * @param zgyro Angular speed around Z axis rad/s
 * @param lat Latitude in degrees
 * @param lon Longitude in degrees
 * @param alt Altitude in meters
 * @param std_dev_horz Horizontal position standard deviation
 * @param std_dev_vert Vertical position standard deviation
 * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
 * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
 * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
						       float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
	_mav_put_float(buf, 0, q1);
	_mav_put_float(buf, 4, q2);
	_mav_put_float(buf, 8, q3);
	_mav_put_float(buf, 12, q4);
	_mav_put_float(buf, 16, roll);
	_mav_put_float(buf, 20, pitch);
	_mav_put_float(buf, 24, yaw);
	_mav_put_float(buf, 28, xacc);
	_mav_put_float(buf, 32, yacc);
	_mav_put_float(buf, 36, zacc);
	_mav_put_float(buf, 40, xgyro);
	_mav_put_float(buf, 44, ygyro);
	_mav_put_float(buf, 48, zgyro);
	_mav_put_float(buf, 52, lat);
	_mav_put_float(buf, 56, lon);
	_mav_put_float(buf, 60, alt);
	_mav_put_float(buf, 64, std_dev_horz);
	_mav_put_float(buf, 68, std_dev_vert);
	_mav_put_float(buf, 72, vn);
	_mav_put_float(buf, 76, ve);
	_mav_put_float(buf, 80, vd);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#else
	mavlink_sim_state_t packet;
	packet.q1 = q1;
	packet.q2 = q2;
	packet.q3 = q3;
	packet.q4 = q4;
	packet.roll = roll;
	packet.pitch = pitch;
	packet.yaw = yaw;
	packet.xacc = xacc;
	packet.yacc = yacc;
	packet.zacc = zacc;
	packet.xgyro = xgyro;
	packet.ygyro = ygyro;
	packet.zgyro = zgyro;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.std_dev_horz = std_dev_horz;
	packet.std_dev_vert = std_dev_vert;
	packet.vn = vn;
	packet.ve = ve;
	packet.vd = vd;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif

	msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
}

/**
 * @brief Pack a sim_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 q1 True attitude quaternion component 1
 * @param q2 True attitude quaternion component 2
 * @param q3 True attitude quaternion component 3
 * @param q4 True attitude quaternion component 4
 * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc X acceleration m/s/s
 * @param yacc Y acceleration m/s/s
 * @param zacc Z acceleration m/s/s
 * @param xgyro Angular speed around X axis rad/s
 * @param ygyro Angular speed around Y axis rad/s
 * @param zgyro Angular speed around Z axis rad/s
 * @param lat Latitude in degrees
 * @param lon Longitude in degrees
 * @param alt Altitude in meters
 * @param std_dev_horz Horizontal position standard deviation
 * @param std_dev_vert Vertical position standard deviation
 * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
 * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
 * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
						           float q1,float q2,float q3,float q4,float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lon,float alt,float std_dev_horz,float std_dev_vert,float vn,float ve,float vd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
	_mav_put_float(buf, 0, q1);
	_mav_put_float(buf, 4, q2);
	_mav_put_float(buf, 8, q3);
	_mav_put_float(buf, 12, q4);
	_mav_put_float(buf, 16, roll);
	_mav_put_float(buf, 20, pitch);
	_mav_put_float(buf, 24, yaw);
	_mav_put_float(buf, 28, xacc);
	_mav_put_float(buf, 32, yacc);
	_mav_put_float(buf, 36, zacc);
	_mav_put_float(buf, 40, xgyro);
	_mav_put_float(buf, 44, ygyro);
	_mav_put_float(buf, 48, zgyro);
	_mav_put_float(buf, 52, lat);
	_mav_put_float(buf, 56, lon);
	_mav_put_float(buf, 60, alt);
	_mav_put_float(buf, 64, std_dev_horz);
	_mav_put_float(buf, 68, std_dev_vert);
	_mav_put_float(buf, 72, vn);
	_mav_put_float(buf, 76, ve);
	_mav_put_float(buf, 80, vd);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#else
	mavlink_sim_state_t packet;
	packet.q1 = q1;
	packet.q2 = q2;
	packet.q3 = q3;
	packet.q4 = q4;
	packet.roll = roll;
	packet.pitch = pitch;
	packet.yaw = yaw;
	packet.xacc = xacc;
	packet.yacc = yacc;
	packet.zacc = zacc;
	packet.xgyro = xgyro;
	packet.ygyro = ygyro;
	packet.zgyro = zgyro;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.std_dev_horz = std_dev_horz;
	packet.std_dev_vert = std_dev_vert;
	packet.vn = vn;
	packet.ve = ve;
	packet.vd = vd;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif

	msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
}

/**
 * @brief Encode a sim_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 sim_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_sim_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
{
	return mavlink_msg_sim_state_pack(system_id, component_id, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd);
}

/**
 * @brief Encode a sim_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 sim_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_sim_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
{
	return mavlink_msg_sim_state_pack_chan(system_id, component_id, chan, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd);
}

/**
 * @brief Send a sim_state message
 * @param chan MAVLink channel to send the message
 *
 * @param q1 True attitude quaternion component 1
 * @param q2 True attitude quaternion component 2
 * @param q3 True attitude quaternion component 3
 * @param q4 True attitude quaternion component 4
 * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc X acceleration m/s/s
 * @param yacc Y acceleration m/s/s
 * @param zacc Z acceleration m/s/s
 * @param xgyro Angular speed around X axis rad/s
 * @param ygyro Angular speed around Y axis rad/s
 * @param zgyro Angular speed around Z axis rad/s
 * @param lat Latitude in degrees
 * @param lon Longitude in degrees
 * @param alt Altitude in meters
 * @param std_dev_horz Horizontal position standard deviation
 * @param std_dev_vert Vertical position standard deviation
 * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
 * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
 * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
	_mav_put_float(buf, 0, q1);
	_mav_put_float(buf, 4, q2);
	_mav_put_float(buf, 8, q3);
	_mav_put_float(buf, 12, q4);
	_mav_put_float(buf, 16, roll);
	_mav_put_float(buf, 20, pitch);
	_mav_put_float(buf, 24, yaw);
	_mav_put_float(buf, 28, xacc);
	_mav_put_float(buf, 32, yacc);
	_mav_put_float(buf, 36, zacc);
	_mav_put_float(buf, 40, xgyro);
	_mav_put_float(buf, 44, ygyro);
	_mav_put_float(buf, 48, zgyro);
	_mav_put_float(buf, 52, lat);
	_mav_put_float(buf, 56, lon);
	_mav_put_float(buf, 60, alt);
	_mav_put_float(buf, 64, std_dev_horz);
	_mav_put_float(buf, 68, std_dev_vert);
	_mav_put_float(buf, 72, vn);
	_mav_put_float(buf, 76, ve);
	_mav_put_float(buf, 80, vd);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
#else
	mavlink_sim_state_t packet;
	packet.q1 = q1;
	packet.q2 = q2;
	packet.q3 = q3;
	packet.q4 = q4;
	packet.roll = roll;
	packet.pitch = pitch;
	packet.yaw = yaw;
	packet.xacc = xacc;
	packet.yacc = yacc;
	packet.zacc = zacc;
	packet.xgyro = xgyro;
	packet.ygyro = ygyro;
	packet.zgyro = zgyro;
	packet.lat = lat;
	packet.lon = lon;
	packet.alt = alt;
	packet.std_dev_horz = std_dev_horz;
	packet.std_dev_vert = std_dev_vert;
	packet.vn = vn;
	packet.ve = ve;
	packet.vd = vd;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
#endif
}

#endif

// MESSAGE SIM_STATE UNPACKING


/**
 * @brief Get field q1 from sim_state message
 *
 * @return True attitude quaternion component 1
 */
static inline float mavlink_msg_sim_state_get_q1(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  0);
}

/**
 * @brief Get field q2 from sim_state message
 *
 * @return True attitude quaternion component 2
 */
static inline float mavlink_msg_sim_state_get_q2(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  4);
}

/**
 * @brief Get field q3 from sim_state message
 *
 * @return True attitude quaternion component 3
 */
static inline float mavlink_msg_sim_state_get_q3(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field q4 from sim_state message
 *
 * @return True attitude quaternion component 4
 */
static inline float mavlink_msg_sim_state_get_q4(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field roll from sim_state message
 *
 * @return Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_roll(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field pitch from sim_state message
 *
 * @return Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_pitch(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field yaw from sim_state message
 *
 * @return Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_yaw(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field xacc from sim_state message
 *
 * @return X acceleration m/s/s
 */
static inline float mavlink_msg_sim_state_get_xacc(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field yacc from sim_state message
 *
 * @return Y acceleration m/s/s
 */
static inline float mavlink_msg_sim_state_get_yacc(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  32);
}

/**
 * @brief Get field zacc from sim_state message
 *
 * @return Z acceleration m/s/s
 */
static inline float mavlink_msg_sim_state_get_zacc(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  36);
}

/**
 * @brief Get field xgyro from sim_state message
 *
 * @return Angular speed around X axis rad/s
 */
static inline float mavlink_msg_sim_state_get_xgyro(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  40);
}

/**
 * @brief Get field ygyro from sim_state message
 *
 * @return Angular speed around Y axis rad/s
 */
static inline float mavlink_msg_sim_state_get_ygyro(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  44);
}

/**
 * @brief Get field zgyro from sim_state message
 *
 * @return Angular speed around Z axis rad/s
 */
static inline float mavlink_msg_sim_state_get_zgyro(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  48);
}

/**
 * @brief Get field lat from sim_state message
 *
 * @return Latitude in degrees
 */
static inline float mavlink_msg_sim_state_get_lat(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  52);
}

/**
 * @brief Get field lon from sim_state message
 *
 * @return Longitude in degrees
 */
static inline float mavlink_msg_sim_state_get_lon(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  56);
}

/**
 * @brief Get field alt from sim_state message
 *
 * @return Altitude in meters
 */
static inline float mavlink_msg_sim_state_get_alt(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  60);
}

/**
 * @brief Get field std_dev_horz from sim_state message
 *
 * @return Horizontal position standard deviation
 */
static inline float mavlink_msg_sim_state_get_std_dev_horz(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  64);
}

/**
 * @brief Get field std_dev_vert from sim_state message
 *
 * @return Vertical position standard deviation
 */
static inline float mavlink_msg_sim_state_get_std_dev_vert(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  68);
}

/**
 * @brief Get field vn from sim_state message
 *
 * @return True velocity in m/s in NORTH direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_vn(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  72);
}

/**
 * @brief Get field ve from sim_state message
 *
 * @return True velocity in m/s in EAST direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_ve(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  76);
}

/**
 * @brief Get field vd from sim_state message
 *
 * @return True velocity in m/s in DOWN direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_vd(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  80);
}

/**
 * @brief Decode a sim_state message into a struct
 *
 * @param msg The message to decode
 * @param sim_state C-struct to decode the message contents into
 */
static inline void mavlink_msg_sim_state_decode(const mavlink_message_t* msg, mavlink_sim_state_t* sim_state)
{
#if MAVLINK_NEED_BYTE_SWAP
	sim_state->q1 = mavlink_msg_sim_state_get_q1(msg);
	sim_state->q2 = mavlink_msg_sim_state_get_q2(msg);
	sim_state->q3 = mavlink_msg_sim_state_get_q3(msg);
	sim_state->q4 = mavlink_msg_sim_state_get_q4(msg);
	sim_state->roll = mavlink_msg_sim_state_get_roll(msg);
	sim_state->pitch = mavlink_msg_sim_state_get_pitch(msg);
	sim_state->yaw = mavlink_msg_sim_state_get_yaw(msg);
	sim_state->xacc = mavlink_msg_sim_state_get_xacc(msg);
	sim_state->yacc = mavlink_msg_sim_state_get_yacc(msg);
	sim_state->zacc = mavlink_msg_sim_state_get_zacc(msg);
	sim_state->xgyro = mavlink_msg_sim_state_get_xgyro(msg);
	sim_state->ygyro = mavlink_msg_sim_state_get_ygyro(msg);
	sim_state->zgyro = mavlink_msg_sim_state_get_zgyro(msg);
	sim_state->lat = mavlink_msg_sim_state_get_lat(msg);
	sim_state->lon = mavlink_msg_sim_state_get_lon(msg);
	sim_state->alt = mavlink_msg_sim_state_get_alt(msg);
	sim_state->std_dev_horz = mavlink_msg_sim_state_get_std_dev_horz(msg);
	sim_state->std_dev_vert = mavlink_msg_sim_state_get_std_dev_vert(msg);
	sim_state->vn = mavlink_msg_sim_state_get_vn(msg);
	sim_state->ve = mavlink_msg_sim_state_get_ve(msg);
	sim_state->vd = mavlink_msg_sim_state_get_vd(msg);
#else
	memcpy(sim_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
}