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// MESSAGE COMMAND PACKING

#define MAVLINK_MSG_ID_COMMAND 75

typedef struct __mavlink_command_t

{

 uint8_t target_system; ///< System which should execute the command

 uint8_t target_component; ///< Component which should execute the command, 0 for all components

 uint8_t command; ///< Command ID, as defined by MAV_CMD enum.

 uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

 float param1; ///< Parameter 1, as defined by MAV_CMD enum.

 float param2; ///< Parameter 2, as defined by MAV_CMD enum.

 float param3; ///< Parameter 3, as defined by MAV_CMD enum.

 float param4; ///< Parameter 4, as defined by MAV_CMD enum.

} mavlink_command_t;

#define MAVLINK_MSG_ID_COMMAND_LEN 20

#define MAVLINK_MSG_ID_75_LEN 20

#define MAVLINK_MESSAGE_INFO_COMMAND { \

        "COMMAND", \

        8, \

        {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \

         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \

         { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \

         { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \

         { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \

         { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \

         { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \

         { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \

         } \

}

/**

 * @brief Pack a command 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 target_system System which should execute the command

 * @param target_component Component which should execute the command, 0 for all components

 * @param command Command ID, as defined by MAV_CMD enum.

 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

 * @param param1 Parameter 1, as defined by MAV_CMD enum.

 * @param param2 Parameter 2, as defined by MAV_CMD enum.

 * @param param3 Parameter 3, as defined by MAV_CMD enum.

 * @param param4 Parameter 4, as defined by MAV_CMD enum.

 * @return length of the message in bytes (excluding serial stream start sign)

 */

static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,

                                                       uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint8_t(buf, 2, command);

        _mav_put_uint8_t(buf, 3, confirmation);

        _mav_put_float(buf, 4, param1);

        _mav_put_float(buf, 8, param2);

        _mav_put_float(buf, 12, param3);

        _mav_put_float(buf, 16, param4);

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

#else

        mavlink_command_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.command = command;

        packet.confirmation = confirmation;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

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

#endif

        msg->msgid = MAVLINK_MSG_ID_COMMAND;

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

}

/**

 * @brief Pack a command 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 target_system System which should execute the command

 * @param target_component Component which should execute the command, 0 for all components

 * @param command Command ID, as defined by MAV_CMD enum.

 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

 * @param param1 Parameter 1, as defined by MAV_CMD enum.

 * @param param2 Parameter 2, as defined by MAV_CMD enum.

 * @param param3 Parameter 3, as defined by MAV_CMD enum.

 * @param param4 Parameter 4, as defined by MAV_CMD enum.

 * @return length of the message in bytes (excluding serial stream start sign)

 */

static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,

                                                           mavlink_message_t* msg,

                                                           uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint8_t(buf, 2, command);

        _mav_put_uint8_t(buf, 3, confirmation);

        _mav_put_float(buf, 4, param1);

        _mav_put_float(buf, 8, param2);

        _mav_put_float(buf, 12, param3);

        _mav_put_float(buf, 16, param4);

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

#else

        mavlink_command_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.command = command;

        packet.confirmation = confirmation;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

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

#endif

        msg->msgid = MAVLINK_MSG_ID_COMMAND;

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

}

/**

 * @brief Encode a command 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 command C-struct to read the message contents from

 */

static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)

{

        return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);

}

/**

 * @brief Send a command message

 * @param chan MAVLink channel to send the message

 *

 * @param target_system System which should execute the command

 * @param target_component Component which should execute the command, 0 for all components

 * @param command Command ID, as defined by MAV_CMD enum.

 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

 * @param param1 Parameter 1, as defined by MAV_CMD enum.

 * @param param2 Parameter 2, as defined by MAV_CMD enum.

 * @param param3 Parameter 3, as defined by MAV_CMD enum.

 * @param param4 Parameter 4, as defined by MAV_CMD enum.

 */

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[20];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint8_t(buf, 2, command);

        _mav_put_uint8_t(buf, 3, confirmation);

        _mav_put_float(buf, 4, param1);

        _mav_put_float(buf, 8, param2);

        _mav_put_float(buf, 12, param3);

        _mav_put_float(buf, 16, param4);

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);

#else

        mavlink_command_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.command = command;

        packet.confirmation = confirmation;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);

#endif

}

#endif

// MESSAGE COMMAND UNPACKING

/**

 * @brief Get field target_system from command message

 *

 * @return System which should execute the command

 */

static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  0);

}

/**

 * @brief Get field target_component from command message

 *

 * @return Component which should execute the command, 0 for all components

 */

static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  1);

}

/**

 * @brief Get field command from command message

 *

 * @return Command ID, as defined by MAV_CMD enum.

 */

static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  2);

}

/**

 * @brief Get field confirmation from command message

 *

 * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)

 */

static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  3);

}

/**

 * @brief Get field param1 from command message

 *

 * @return Parameter 1, as defined by MAV_CMD enum.

 */

static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  4);

}

/**

 * @brief Get field param2 from command message

 *

 * @return Parameter 2, as defined by MAV_CMD enum.

 */

static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  8);

}

/**

 * @brief Get field param3 from command message

 *

 * @return Parameter 3, as defined by MAV_CMD enum.

 */

static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  12);

}

/**

 * @brief Get field param4 from command message

 *

 * @return Parameter 4, as defined by MAV_CMD enum.

 */

static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  16);

}

/**

 * @brief Decode a command message into a struct

 *

 * @param msg The message to decode

 * @param command C-struct to decode the message contents into

 */

static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)

{

#if MAVLINK_NEED_BYTE_SWAP

        command->target_system = mavlink_msg_command_get_target_system(msg);

        command->target_component = mavlink_msg_command_get_target_component(msg);

        command->command = mavlink_msg_command_get_command(msg);

        command->confirmation = mavlink_msg_command_get_confirmation(msg);

        command->param1 = mavlink_msg_command_get_param1(msg);

        command->param2 = mavlink_msg_command_get_param2(msg);

        command->param3 = mavlink_msg_command_get_param3(msg);

        command->param4 = mavlink_msg_command_get_param4(msg);

#else

        memcpy(command, _MAV_PAYLOAD(msg), 20);

#endif

}