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// MESSAGE WAYPOINT PACKING

#define MAVLINK_MSG_ID_WAYPOINT 39

typedef struct __mavlink_waypoint_t

{

 uint8_t target_system; ///< System ID

 uint8_t target_component; ///< Component ID

 uint16_t seq; ///< Sequence

 uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h

 uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs

 uint8_t current; ///< false:0, true:1

 uint8_t autocontinue; ///< autocontinue to next wp

 float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters

 float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds

 float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.

 float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH

 float x; ///< PARAM5 / local: x position, global: latitude

 float y; ///< PARAM6 / y position: global: longitude

 float z; ///< PARAM7 / z position: global: altitude

} mavlink_waypoint_t;

#define MAVLINK_MSG_ID_WAYPOINT_LEN 36

#define MAVLINK_MSG_ID_39_LEN 36

#define MAVLINK_MESSAGE_INFO_WAYPOINT { \

        "WAYPOINT", \

        14, \

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

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

         { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_waypoint_t, seq) }, \

         { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_waypoint_t, frame) }, \

         { "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_waypoint_t, command) }, \

         { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_waypoint_t, current) }, \

         { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_waypoint_t, autocontinue) }, \

         { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_waypoint_t, param1) }, \

         { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_waypoint_t, param2) }, \

         { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_waypoint_t, param3) }, \

         { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_waypoint_t, param4) }, \

         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_waypoint_t, x) }, \

         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_waypoint_t, y) }, \

         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_waypoint_t, z) }, \

         } \

}

/**

 * @brief Pack a waypoint 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 ID

 * @param target_component Component ID

 * @param seq Sequence

 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h

 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs

 * @param current false:0, true:1

 * @param autocontinue autocontinue to next wp

 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters

 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds

 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.

 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH

 * @param x PARAM5 / local: x position, global: latitude

 * @param y PARAM6 / y position: global: longitude

 * @param z PARAM7 / z position: global: altitude

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

 */

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

                                                       uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[36];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint16_t(buf, 2, seq);

        _mav_put_uint8_t(buf, 4, frame);

        _mav_put_uint8_t(buf, 5, command);

        _mav_put_uint8_t(buf, 6, current);

        _mav_put_uint8_t(buf, 7, autocontinue);

        _mav_put_float(buf, 8, param1);

        _mav_put_float(buf, 12, param2);

        _mav_put_float(buf, 16, param3);

        _mav_put_float(buf, 20, param4);

        _mav_put_float(buf, 24, x);

        _mav_put_float(buf, 28, y);

        _mav_put_float(buf, 32, z);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);

#else

        mavlink_waypoint_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.seq = seq;

        packet.frame = frame;

        packet.command = command;

        packet.current = current;

        packet.autocontinue = autocontinue;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

        packet.x = x;

        packet.y = y;

        packet.z = z;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);

#endif

        msg->msgid = MAVLINK_MSG_ID_WAYPOINT;

        return mavlink_finalize_message(msg, system_id, component_id, 36);

}

/**

 * @brief Pack a waypoint 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 ID

 * @param target_component Component ID

 * @param seq Sequence

 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h

 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs

 * @param current false:0, true:1

 * @param autocontinue autocontinue to next wp

 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters

 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds

 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.

 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH

 * @param x PARAM5 / local: x position, global: latitude

 * @param y PARAM6 / y position: global: longitude

 * @param z PARAM7 / z position: global: altitude

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

 */

static inline uint16_t mavlink_msg_waypoint_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,uint16_t seq,uint8_t frame,uint8_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[36];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint16_t(buf, 2, seq);

        _mav_put_uint8_t(buf, 4, frame);

        _mav_put_uint8_t(buf, 5, command);

        _mav_put_uint8_t(buf, 6, current);

        _mav_put_uint8_t(buf, 7, autocontinue);

        _mav_put_float(buf, 8, param1);

        _mav_put_float(buf, 12, param2);

        _mav_put_float(buf, 16, param3);

        _mav_put_float(buf, 20, param4);

        _mav_put_float(buf, 24, x);

        _mav_put_float(buf, 28, y);

        _mav_put_float(buf, 32, z);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36);

#else

        mavlink_waypoint_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.seq = seq;

        packet.frame = frame;

        packet.command = command;

        packet.current = current;

        packet.autocontinue = autocontinue;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

        packet.x = x;

        packet.y = y;

        packet.z = z;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36);

#endif

        msg->msgid = MAVLINK_MSG_ID_WAYPOINT;

        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);

}

/**

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

 */

static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)

{

        return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z);

}

/**

 * @brief Send a waypoint message

 * @param chan MAVLink channel to send the message

 *

 * @param target_system System ID

 * @param target_component Component ID

 * @param seq Sequence

 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h

 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs

 * @param current false:0, true:1

 * @param autocontinue autocontinue to next wp

 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters

 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds

 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.

 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH

 * @param x PARAM5 / local: x position, global: latitude

 * @param y PARAM6 / y position: global: longitude

 * @param z PARAM7 / z position: global: altitude

 */

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[36];

        _mav_put_uint8_t(buf, 0, target_system);

        _mav_put_uint8_t(buf, 1, target_component);

        _mav_put_uint16_t(buf, 2, seq);

        _mav_put_uint8_t(buf, 4, frame);

        _mav_put_uint8_t(buf, 5, command);

        _mav_put_uint8_t(buf, 6, current);

        _mav_put_uint8_t(buf, 7, autocontinue);

        _mav_put_float(buf, 8, param1);

        _mav_put_float(buf, 12, param2);

        _mav_put_float(buf, 16, param3);

        _mav_put_float(buf, 20, param4);

        _mav_put_float(buf, 24, x);

        _mav_put_float(buf, 28, y);

        _mav_put_float(buf, 32, z);

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, buf, 36);

#else

        mavlink_waypoint_t packet;

        packet.target_system = target_system;

        packet.target_component = target_component;

        packet.seq = seq;

        packet.frame = frame;

        packet.command = command;

        packet.current = current;

        packet.autocontinue = autocontinue;

        packet.param1 = param1;

        packet.param2 = param2;

        packet.param3 = param3;

        packet.param4 = param4;

        packet.x = x;

        packet.y = y;

        packet.z = z;

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT, (const char *)&packet, 36);

#endif

}

#endif

// MESSAGE WAYPOINT UNPACKING

/**

 * @brief Get field target_system from waypoint message

 *

 * @return System ID

 */

static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  0);

}

/**

 * @brief Get field target_component from waypoint message

 *

 * @return Component ID

 */

static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  1);

}

/**

 * @brief Get field seq from waypoint message

 *

 * @return Sequence

 */

static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint16_t(msg,  2);

}

/**

 * @brief Get field frame from waypoint message

 *

 * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h

 */

static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  4);

}

/**

 * @brief Get field command from waypoint message

 *

 * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs

 */

static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  5);

}

/**

 * @brief Get field current from waypoint message

 *

 * @return false:0, true:1

 */

static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  6);

}

/**

 * @brief Get field autocontinue from waypoint message

 *

 * @return autocontinue to next wp

 */

static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  7);

}

/**

 * @brief Get field param1 from waypoint message

 *

 * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters

 */

static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  8);

}

/**

 * @brief Get field param2 from waypoint message

 *

 * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds

 */

static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  12);

}

/**

 * @brief Get field param3 from waypoint message

 *

 * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.

 */

static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  16);

}

/**

 * @brief Get field param4 from waypoint message

 *

 * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH

 */

static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  20);

}

/**

 * @brief Get field x from waypoint message

 *

 * @return PARAM5 / local: x position, global: latitude

 */

static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  24);

}

/**

 * @brief Get field y from waypoint message

 *

 * @return PARAM6 / y position: global: longitude

 */

static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  28);

}

/**

 * @brief Get field z from waypoint message

 *

 * @return PARAM7 / z position: global: altitude

 */

static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  32);

}

/**

 * @brief Decode a waypoint message into a struct

 *

 * @param msg The message to decode

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

 */

static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)

{

#if MAVLINK_NEED_BYTE_SWAP

        waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);

        waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);

        waypoint->seq = mavlink_msg_waypoint_get_seq(msg);

        waypoint->frame = mavlink_msg_waypoint_get_frame(msg);

        waypoint->command = mavlink_msg_waypoint_get_command(msg);

        waypoint->current = mavlink_msg_waypoint_get_current(msg);

        waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg);

        waypoint->param1 = mavlink_msg_waypoint_get_param1(msg);

        waypoint->param2 = mavlink_msg_waypoint_get_param2(msg);

        waypoint->param3 = mavlink_msg_waypoint_get_param3(msg);

        waypoint->param4 = mavlink_msg_waypoint_get_param4(msg);

        waypoint->x = mavlink_msg_waypoint_get_x(msg);

        waypoint->y = mavlink_msg_waypoint_get_y(msg);

        waypoint->z = mavlink_msg_waypoint_get_z(msg);

#else

        memcpy(waypoint, _MAV_PAYLOAD(msg), 36);

#endif

}