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// MESSAGE POSITION_TARGET PACKING
#define MAVLINK_MSG_ID_POSITION_TARGET 63
typedef struct __mavlink_position_target_t
{
float x; ///< x position
float y; ///< y position
float z; ///< z position
float yaw; ///< yaw orientation in radians, 0 = NORTH
} mavlink_position_target_t;
#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16
#define MAVLINK_MSG_ID_63_LEN 16
#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \
"POSITION_TARGET", \
4, \
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \
} \
}
/**
* @brief Pack a position_target 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 x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
return mavlink_finalize_message(msg, system_id, component_id, 16);
}
/**
* @brief Pack a position_target 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 x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float x,float y,float z,float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 16);
#endif
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
}
/**
* @brief Encode a position_target 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 position_target C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
{
return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
}
/**
* @brief Send a position_target message
* @param chan MAVLink channel to send the message
*
* @param x x position
* @param y y position
* @param z z position
* @param yaw yaw orientation in radians, 0 = NORTH
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[16];
_mav_put_float(buf, 0, x);
_mav_put_float(buf, 4, y);
_mav_put_float(buf, 8, z);
_mav_put_float(buf, 12, yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16);
#else
mavlink_position_target_t packet;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw = yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16);
#endif
}
#endif
// MESSAGE POSITION_TARGET UNPACKING
/**
* @brief Get field x from position_target message
*
* @return x position
*/
static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field y from position_target message
*
* @return y position
*/
static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field z from position_target message
*
* @return z position
*/
static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from position_target message
*
* @return yaw orientation in radians, 0 = NORTH
*/
static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Decode a position_target message into a struct
*
* @param msg The message to decode
* @param position_target C-struct to decode the message contents into
*/
static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
{
#if MAVLINK_NEED_BYTE_SWAP
position_target->x = mavlink_msg_position_target_get_x(msg);
position_target->y = mavlink_msg_position_target_get_y(msg);
position_target->z = mavlink_msg_position_target_get_z(msg);
position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
#else
memcpy(position_target, _MAV_PAYLOAD(msg), 16);
#endif
}