233 lines
9.3 KiB
C
233 lines
9.3 KiB
C
// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52
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typedef struct __mavlink_global_position_setpoint_int_t
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{
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int32_t latitude; ///< WGS84 Latitude position in degrees * 1E7
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int32_t longitude; ///< WGS84 Longitude position in degrees * 1E7
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int32_t altitude; ///< WGS84 Altitude in meters * 1000 (positive for up)
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int16_t yaw; ///< Desired yaw angle in degrees * 100
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uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
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} mavlink_global_position_setpoint_int_t;
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#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 15
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#define MAVLINK_MSG_ID_52_LEN 15
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#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT { \
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"GLOBAL_POSITION_SETPOINT_INT", \
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5, \
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{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_int_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_int_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_int_t, altitude) }, \
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{ "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_setpoint_int_t, yaw) }, \
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{ "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_global_position_setpoint_int_t, coordinate_frame) }, \
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} \
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}
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/**
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* @brief Pack a global_position_setpoint_int message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
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* @param latitude WGS84 Latitude position in degrees * 1E7
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* @param longitude WGS84 Longitude position in degrees * 1E7
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* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
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* @param yaw Desired yaw angle in degrees * 100
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[15];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_int16_t(buf, 12, yaw);
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_mav_put_uint8_t(buf, 14, coordinate_frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
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#else
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mavlink_global_position_setpoint_int_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.yaw = yaw;
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packet.coordinate_frame = coordinate_frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
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return mavlink_finalize_message(msg, system_id, component_id, 15, 141);
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}
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/**
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* @brief Pack a global_position_setpoint_int message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
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* @param latitude WGS84 Latitude position in degrees * 1E7
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* @param longitude WGS84 Longitude position in degrees * 1E7
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* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
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* @param yaw Desired yaw angle in degrees * 100
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[15];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_int16_t(buf, 12, yaw);
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_mav_put_uint8_t(buf, 14, coordinate_frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 15);
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#else
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mavlink_global_position_setpoint_int_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.yaw = yaw;
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packet.coordinate_frame = coordinate_frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 15);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15, 141);
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}
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/**
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* @brief Encode a global_position_setpoint_int struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param global_position_setpoint_int C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
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{
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return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
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}
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/**
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* @brief Send a global_position_setpoint_int message
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* @param chan MAVLink channel to send the message
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*
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* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
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* @param latitude WGS84 Latitude position in degrees * 1E7
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* @param longitude WGS84 Longitude position in degrees * 1E7
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* @param altitude WGS84 Altitude in meters * 1000 (positive for up)
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* @param yaw Desired yaw angle in degrees * 100
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[15];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_int16_t(buf, 12, yaw);
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_mav_put_uint8_t(buf, 14, coordinate_frame);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, 15, 141);
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#else
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mavlink_global_position_setpoint_int_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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packet.yaw = yaw;
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packet.coordinate_frame = coordinate_frame;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, 15, 141);
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#endif
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}
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#endif
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// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING
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/**
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* @brief Get field coordinate_frame from global_position_setpoint_int message
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*
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* @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
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*/
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static inline uint8_t mavlink_msg_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 14);
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}
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/**
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* @brief Get field latitude from global_position_setpoint_int message
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*
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* @return WGS84 Latitude position in degrees * 1E7
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*/
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static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 0);
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}
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/**
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* @brief Get field longitude from global_position_setpoint_int message
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*
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* @return WGS84 Longitude position in degrees * 1E7
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*/
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static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 4);
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}
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/**
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* @brief Get field altitude from global_position_setpoint_int message
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*
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* @return WGS84 Altitude in meters * 1000 (positive for up)
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*/
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static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 8);
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}
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/**
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* @brief Get field yaw from global_position_setpoint_int message
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*
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* @return Desired yaw angle in degrees * 100
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*/
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static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 12);
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}
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/**
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* @brief Decode a global_position_setpoint_int message into a struct
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*
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* @param msg The message to decode
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* @param global_position_setpoint_int C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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global_position_setpoint_int->latitude = mavlink_msg_global_position_setpoint_int_get_latitude(msg);
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global_position_setpoint_int->longitude = mavlink_msg_global_position_setpoint_int_get_longitude(msg);
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global_position_setpoint_int->altitude = mavlink_msg_global_position_setpoint_int_get_altitude(msg);
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global_position_setpoint_int->yaw = mavlink_msg_global_position_setpoint_int_get_yaw(msg);
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global_position_setpoint_int->coordinate_frame = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(msg);
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#else
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memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), 15);
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#endif
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}
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