#pragma once // MESSAGE POSITION_TARGET_LOCAL_NED PACKING #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED 85 MAVPACKED( typedef struct __mavlink_position_target_local_ned_t { uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/ float x; /*< [m] X Position in NED frame*/ float y; /*< [m] Y Position in NED frame*/ float z; /*< [m] Z Position in NED frame (note, altitude is negative in NED)*/ float vx; /*< [m/s] X velocity in NED frame*/ float vy; /*< [m/s] Y velocity in NED frame*/ float vz; /*< [m/s] Z velocity in NED frame*/ float afx; /*< [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/ float afy; /*< [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/ float afz; /*< [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/ float yaw; /*< [rad] yaw setpoint*/ float yaw_rate; /*< [rad/s] yaw rate setpoint*/ uint16_t type_mask; /*< Bitmap to indicate which dimensions should be ignored by the vehicle.*/ uint8_t coordinate_frame; /*< Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9*/ }) mavlink_position_target_local_ned_t; #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN 51 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN 51 #define MAVLINK_MSG_ID_85_LEN 51 #define MAVLINK_MSG_ID_85_MIN_LEN 51 #define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC 140 #define MAVLINK_MSG_ID_85_CRC 140 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \ 85, \ "POSITION_TARGET_LOCAL_NED", \ 14, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \ { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \ { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \ { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \ { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \ { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \ "POSITION_TARGET_LOCAL_NED", \ 14, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \ { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \ { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \ { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \ { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \ { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \ { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \ } \ } #endif /** * @brief Pack a position_target_local_ned 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 [ms] Timestamp (time since system boot). * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 * @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle. * @param x [m] X Position in NED frame * @param y [m] Y Position in NED frame * @param z [m] Z Position in NED frame (note, altitude is negative in NED) * @param vx [m/s] X velocity in NED frame * @param vy [m/s] Y velocity in NED frame * @param vz [m/s] Z velocity in NED frame * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param yaw [rad] yaw setpoint * @param yaw_rate [rad/s] yaw rate setpoint * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _mav_put_float(buf, 28, afx); _mav_put_float(buf, 32, afy); _mav_put_float(buf, 36, afz); _mav_put_float(buf, 40, yaw); _mav_put_float(buf, 44, yaw_rate); _mav_put_uint16_t(buf, 48, type_mask); _mav_put_uint8_t(buf, 50, coordinate_frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN); #else mavlink_position_target_local_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.afx = afx; packet.afy = afy; packet.afz = afz; packet.yaw = yaw; packet.yaw_rate = yaw_rate; packet.type_mask = type_mask; packet.coordinate_frame = coordinate_frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); } /** * @brief Pack a position_target_local_ned 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 [ms] Timestamp (time since system boot). * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 * @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle. * @param x [m] X Position in NED frame * @param y [m] Y Position in NED frame * @param z [m] Z Position in NED frame (note, altitude is negative in NED) * @param vx [m/s] X velocity in NED frame * @param vy [m/s] Y velocity in NED frame * @param vz [m/s] Z velocity in NED frame * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param yaw [rad] yaw setpoint * @param yaw_rate [rad/s] yaw rate setpoint * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_position_target_local_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _mav_put_float(buf, 28, afx); _mav_put_float(buf, 32, afy); _mav_put_float(buf, 36, afz); _mav_put_float(buf, 40, yaw); _mav_put_float(buf, 44, yaw_rate); _mav_put_uint16_t(buf, 48, type_mask); _mav_put_uint8_t(buf, 50, coordinate_frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN); #else mavlink_position_target_local_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.afx = afx; packet.afy = afy; packet.afz = afz; packet.yaw = yaw; packet.yaw_rate = yaw_rate; packet.type_mask = type_mask; packet.coordinate_frame = coordinate_frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); } /** * @brief Encode a position_target_local_ned 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_target_local_ned C-struct to read the message contents from */ static inline uint16_t mavlink_msg_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned) { return mavlink_msg_position_target_local_ned_pack(system_id, component_id, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate); } /** * @brief Encode a position_target_local_ned 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_target_local_ned C-struct to read the message contents from */ static inline uint16_t mavlink_msg_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned) { return mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate); } /** * @brief Send a position_target_local_ned message * @param chan MAVLink channel to send the message * * @param time_boot_ms [ms] Timestamp (time since system boot). * @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 * @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle. * @param x [m] X Position in NED frame * @param y [m] Y Position in NED frame * @param z [m] Z Position in NED frame (note, altitude is negative in NED) * @param vx [m/s] X velocity in NED frame * @param vy [m/s] Y velocity in NED frame * @param vz [m/s] Z velocity in NED frame * @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N * @param yaw [rad] yaw setpoint * @param yaw_rate [rad/s] yaw rate setpoint */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _mav_put_float(buf, 28, afx); _mav_put_float(buf, 32, afy); _mav_put_float(buf, 36, afz); _mav_put_float(buf, 40, yaw); _mav_put_float(buf, 44, yaw_rate); _mav_put_uint16_t(buf, 48, type_mask); _mav_put_uint8_t(buf, 50, coordinate_frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); #else mavlink_position_target_local_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; packet.afx = afx; packet.afy = afy; packet.afz = afz; packet.yaw = yaw; packet.yaw_rate = yaw_rate; packet.type_mask = type_mask; packet.coordinate_frame = coordinate_frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); #endif } /** * @brief Send a position_target_local_ned message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_position_target_local_ned_send_struct(mavlink_channel_t chan, const mavlink_position_target_local_ned_t* position_target_local_ned) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_position_target_local_ned_send(chan, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)position_target_local_ned, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); #endif } #if MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_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_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _mav_put_float(buf, 28, afx); _mav_put_float(buf, 32, afy); _mav_put_float(buf, 36, afz); _mav_put_float(buf, 40, yaw); _mav_put_float(buf, 44, yaw_rate); _mav_put_uint16_t(buf, 48, type_mask); _mav_put_uint8_t(buf, 50, coordinate_frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); #else mavlink_position_target_local_ned_t *packet = (mavlink_position_target_local_ned_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->x = x; packet->y = y; packet->z = z; packet->vx = vx; packet->vy = vy; packet->vz = vz; packet->afx = afx; packet->afy = afy; packet->afz = afz; packet->yaw = yaw; packet->yaw_rate = yaw_rate; packet->type_mask = type_mask; packet->coordinate_frame = coordinate_frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC); #endif } #endif #endif // MESSAGE POSITION_TARGET_LOCAL_NED UNPACKING /** * @brief Get field time_boot_ms from position_target_local_ned message * * @return [ms] Timestamp (time since system boot). */ static inline uint32_t mavlink_msg_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field coordinate_frame from position_target_local_ned message * * @return Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 */ static inline uint8_t mavlink_msg_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 50); } /** * @brief Get field type_mask from position_target_local_ned message * * @return Bitmap to indicate which dimensions should be ignored by the vehicle. */ static inline uint16_t mavlink_msg_position_target_local_ned_get_type_mask(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 48); } /** * @brief Get field x from position_target_local_ned message * * @return [m] X Position in NED frame */ static inline float mavlink_msg_position_target_local_ned_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field y from position_target_local_ned message * * @return [m] Y Position in NED frame */ static inline float mavlink_msg_position_target_local_ned_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field z from position_target_local_ned message * * @return [m] Z Position in NED frame (note, altitude is negative in NED) */ static inline float mavlink_msg_position_target_local_ned_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field vx from position_target_local_ned message * * @return [m/s] X velocity in NED frame */ static inline float mavlink_msg_position_target_local_ned_get_vx(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field vy from position_target_local_ned message * * @return [m/s] Y velocity in NED frame */ static inline float mavlink_msg_position_target_local_ned_get_vy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field vz from position_target_local_ned message * * @return [m/s] Z velocity in NED frame */ static inline float mavlink_msg_position_target_local_ned_get_vz(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field afx from position_target_local_ned message * * @return [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N */ static inline float mavlink_msg_position_target_local_ned_get_afx(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field afy from position_target_local_ned message * * @return [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N */ static inline float mavlink_msg_position_target_local_ned_get_afy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field afz from position_target_local_ned message * * @return [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N */ static inline float mavlink_msg_position_target_local_ned_get_afz(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field yaw from position_target_local_ned message * * @return [rad] yaw setpoint */ static inline float mavlink_msg_position_target_local_ned_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field yaw_rate from position_target_local_ned message * * @return [rad/s] yaw rate setpoint */ static inline float mavlink_msg_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Decode a position_target_local_ned message into a struct * * @param msg The message to decode * @param position_target_local_ned C-struct to decode the message contents into */ static inline void mavlink_msg_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_position_target_local_ned_t* position_target_local_ned) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS position_target_local_ned->time_boot_ms = mavlink_msg_position_target_local_ned_get_time_boot_ms(msg); position_target_local_ned->x = mavlink_msg_position_target_local_ned_get_x(msg); position_target_local_ned->y = mavlink_msg_position_target_local_ned_get_y(msg); position_target_local_ned->z = mavlink_msg_position_target_local_ned_get_z(msg); position_target_local_ned->vx = mavlink_msg_position_target_local_ned_get_vx(msg); position_target_local_ned->vy = mavlink_msg_position_target_local_ned_get_vy(msg); position_target_local_ned->vz = mavlink_msg_position_target_local_ned_get_vz(msg); position_target_local_ned->afx = mavlink_msg_position_target_local_ned_get_afx(msg); position_target_local_ned->afy = mavlink_msg_position_target_local_ned_get_afy(msg); position_target_local_ned->afz = mavlink_msg_position_target_local_ned_get_afz(msg); position_target_local_ned->yaw = mavlink_msg_position_target_local_ned_get_yaw(msg); position_target_local_ned->yaw_rate = mavlink_msg_position_target_local_ned_get_yaw_rate(msg); position_target_local_ned->type_mask = mavlink_msg_position_target_local_ned_get_type_mask(msg); position_target_local_ned->coordinate_frame = mavlink_msg_position_target_local_ned_get_coordinate_frame(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN? msg->len : MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN; memset(position_target_local_ned, 0, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN); memcpy(position_target_local_ned, _MAV_PAYLOAD(msg), len); #endif }