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// MESSAGE LOCAL_POSITION_SETPOINT PACKING
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#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
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typedef struct __mavlink_local_position_setpoint_t
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{
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 float x; ///< x position
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 float y; ///< y position
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 float z; ///< z position
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 float yaw; ///< Desired yaw angle
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 uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
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} mavlink_local_position_setpoint_t;
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#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17
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#define MAVLINK_MSG_ID_51_LEN 17
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
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        "LOCAL_POSITION_SETPOINT", \
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        5, \
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        {  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
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         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
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         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
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         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
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         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \
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         } \
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}
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/**
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 * @brief Pack a local_position_setpoint 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_LOCAL_NED or MAV_FRAME_LOCAL_ENU
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 * @param x x position
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 * @param y y position
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 * @param z z position
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 * @param yaw Desired yaw angle
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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_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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                                                       uint8_t coordinate_frame, float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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        char buf[17];
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        _mav_put_float(buf, 0, x);
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        _mav_put_float(buf, 4, y);
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        _mav_put_float(buf, 8, z);
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        _mav_put_float(buf, 12, yaw);
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        _mav_put_uint8_t(buf, 16, coordinate_frame);
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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
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#else
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        mavlink_local_position_setpoint_t packet;
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        packet.x = x;
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        packet.y = y;
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        packet.z = z;
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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, 17);
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#endif
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        msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
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        return mavlink_finalize_message(msg, system_id, component_id, 17, 223);
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}
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/**
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 * @brief Pack a local_position_setpoint 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_LOCAL_NED or MAV_FRAME_LOCAL_ENU
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 * @param x x position
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 * @param y y position
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 * @param z z position
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 * @param yaw Desired yaw angle
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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_local_position_setpoint_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,float x,float y,float z,float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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        char buf[17];
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        _mav_put_float(buf, 0, x);
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        _mav_put_float(buf, 4, y);
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        _mav_put_float(buf, 8, z);
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        _mav_put_float(buf, 12, yaw);
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        _mav_put_uint8_t(buf, 16, coordinate_frame);
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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
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#else
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        mavlink_local_position_setpoint_t packet;
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        packet.x = x;
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        packet.y = y;
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        packet.z = z;
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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, 17);
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#endif
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        msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
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        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17, 223);
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}
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/**
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 * @brief Encode a local_position_setpoint 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 local_position_setpoint C-struct to read the message contents from
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 */
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static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
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{
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        return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
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}
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/**
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 * @brief Send a local_position_setpoint 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_LOCAL_NED or MAV_FRAME_LOCAL_ENU
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 * @param x x position
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 * @param y y position
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 * @param z z position
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 * @param yaw Desired yaw angle
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 */
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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        char buf[17];
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        _mav_put_float(buf, 0, x);
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        _mav_put_float(buf, 4, y);
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        _mav_put_float(buf, 8, z);
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        _mav_put_float(buf, 12, yaw);
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        _mav_put_uint8_t(buf, 16, coordinate_frame);
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        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 17, 223);
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#else
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        mavlink_local_position_setpoint_t packet;
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        packet.x = x;
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        packet.y = y;
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        packet.z = z;
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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_LOCAL_POSITION_SETPOINT, (const char *)&packet, 17, 223);
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#endif
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}
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#endif
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// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
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/**
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 * @brief Get field coordinate_frame from local_position_setpoint message
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 *
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 * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
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 */
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static inline uint8_t mavlink_msg_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg)
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{
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        return _MAV_RETURN_uint8_t(msg,  16);
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}
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/**
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 * @brief Get field x from local_position_setpoint message
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 *
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 * @return x position
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 */
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static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
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{
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        return _MAV_RETURN_float(msg,  0);
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}
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/**
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 * @brief Get field y from local_position_setpoint message
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 *
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 * @return y position
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 */
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static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
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{
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        return _MAV_RETURN_float(msg,  4);
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}
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/**
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 * @brief Get field z from local_position_setpoint message
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 *
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 * @return z position
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 */
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static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
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{
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        return _MAV_RETURN_float(msg,  8);
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}
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/**
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 * @brief Get field yaw from local_position_setpoint message
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 *
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 * @return Desired yaw angle
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 */
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static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
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{
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        return _MAV_RETURN_float(msg,  12);
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}
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/**
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 * @brief Decode a local_position_setpoint message into a struct
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 *
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 * @param msg The message to decode
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 * @param local_position_setpoint C-struct to decode the message contents into
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 */
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static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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        local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg);
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        local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg);
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        local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
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        local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
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        local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg);
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#else
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        memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 17);
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#endif
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}