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// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING

#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 58

typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t

{

 uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot

 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 20

#define MAVLINK_MSG_ID_58_LEN 20

#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \

        "ROLL_PITCH_YAW_THRUST_SETPOINT", \

        5, \

        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_boot_ms) }, \

         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \

         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \

         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \

         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, 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_boot_ms Timestamp in milliseconds since system boot

 * @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,

                                                       uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint32_t(buf, 0, time_boot_ms);

        _mav_put_float(buf, 4, roll);

        _mav_put_float(buf, 8, pitch);

        _mav_put_float(buf, 12, yaw);

        _mav_put_float(buf, 16, thrust);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);

#else

        mavlink_roll_pitch_yaw_thrust_setpoint_t packet;

        packet.time_boot_ms = time_boot_ms;

        packet.roll = roll;

        packet.pitch = pitch;

        packet.yaw = yaw;

        packet.thrust = thrust;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);

#endif

        msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;

        return mavlink_finalize_message(msg, system_id, component_id, 20, 239);

}

/**

 * @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_boot_ms Timestamp in milliseconds since system boot

 * @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,

                                                           uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint32_t(buf, 0, time_boot_ms);

        _mav_put_float(buf, 4, roll);

        _mav_put_float(buf, 8, pitch);

        _mav_put_float(buf, 12, yaw);

        _mav_put_float(buf, 16, thrust);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);

#else

        mavlink_roll_pitch_yaw_thrust_setpoint_t packet;

        packet.time_boot_ms = time_boot_ms;

        packet.roll = roll;

        packet.pitch = pitch;

        packet.yaw = yaw;

        packet.thrust = thrust;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);

#endif

        msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;

        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 239);

}

/**

 * @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_boot_ms, 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_boot_ms Timestamp in milliseconds since system boot

 * @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, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint32_t(buf, 0, time_boot_ms);

        _mav_put_float(buf, 4, roll);

        _mav_put_float(buf, 8, pitch);

        _mav_put_float(buf, 12, yaw);

        _mav_put_float(buf, 16, thrust);

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 20, 239);

#else

        mavlink_roll_pitch_yaw_thrust_setpoint_t packet;

        packet.time_boot_ms = time_boot_ms;

        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, 20, 239);

#endif

}

#endif

// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING

/**

 * @brief Get field time_boot_ms from roll_pitch_yaw_thrust_setpoint message

 *

 * @return Timestamp in milliseconds since system boot

 */

static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint32_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,  4);

}

/**

 * @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,  8);

}

/**

 * @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,  12);

}

/**

 * @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,  16);

}

/**

 * @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_boot_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(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), 20);

#endif

}