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// MESSAGE HIL_CONTROLS PACKING

#define MAVLINK_MSG_ID_HIL_CONTROLS 91

typedef struct __mavlink_hil_controls_t

{

 uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)

 float roll_ailerons; ///< Control output -1 .. 1

 float pitch_elevator; ///< Control output -1 .. 1

 float yaw_rudder; ///< Control output -1 .. 1

 float throttle; ///< Throttle 0 .. 1

 float aux1; ///< Aux 1, -1 .. 1

 float aux2; ///< Aux 2, -1 .. 1

 float aux3; ///< Aux 3, -1 .. 1

 float aux4; ///< Aux 4, -1 .. 1

 uint8_t mode; ///< System mode (MAV_MODE)

 uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)

} mavlink_hil_controls_t;

#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42

#define MAVLINK_MSG_ID_91_LEN 42

#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \

        "HIL_CONTROLS", \

        11, \

        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \

         { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \

         { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \

         { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \

         { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \

         { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \

         { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \

         { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \

         { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \

         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \

         { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \

         } \

}

/**

 * @brief Pack a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)

 * @param roll_ailerons Control output -1 .. 1

 * @param pitch_elevator Control output -1 .. 1

 * @param yaw_rudder Control output -1 .. 1

 * @param throttle Throttle 0 .. 1

 * @param aux1 Aux 1, -1 .. 1

 * @param aux2 Aux 2, -1 .. 1

 * @param aux3 Aux 3, -1 .. 1

 * @param aux4 Aux 4, -1 .. 1

 * @param mode System mode (MAV_MODE)

 * @param nav_mode Navigation mode (MAV_NAV_MODE)

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

 */

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

                                                       uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[42];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll_ailerons);

        _mav_put_float(buf, 12, pitch_elevator);

        _mav_put_float(buf, 16, yaw_rudder);

        _mav_put_float(buf, 20, throttle);

        _mav_put_float(buf, 24, aux1);

        _mav_put_float(buf, 28, aux2);

        _mav_put_float(buf, 32, aux3);

        _mav_put_float(buf, 36, aux4);

        _mav_put_uint8_t(buf, 40, mode);

        _mav_put_uint8_t(buf, 41, nav_mode);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);

#else

        mavlink_hil_controls_t packet;

        packet.time_usec = time_usec;

        packet.roll_ailerons = roll_ailerons;

        packet.pitch_elevator = pitch_elevator;

        packet.yaw_rudder = yaw_rudder;

        packet.throttle = throttle;

        packet.aux1 = aux1;

        packet.aux2 = aux2;

        packet.aux3 = aux3;

        packet.aux4 = aux4;

        packet.mode = mode;

        packet.nav_mode = nav_mode;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);

#endif

        msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;

        return mavlink_finalize_message(msg, system_id, component_id, 42, 63);

}

/**

 * @brief Pack a hil_controls 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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)

 * @param roll_ailerons Control output -1 .. 1

 * @param pitch_elevator Control output -1 .. 1

 * @param yaw_rudder Control output -1 .. 1

 * @param throttle Throttle 0 .. 1

 * @param aux1 Aux 1, -1 .. 1

 * @param aux2 Aux 2, -1 .. 1

 * @param aux3 Aux 3, -1 .. 1

 * @param aux4 Aux 4, -1 .. 1

 * @param mode System mode (MAV_MODE)

 * @param nav_mode Navigation mode (MAV_NAV_MODE)

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

 */

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

                                                           mavlink_message_t* msg,

                                                           uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[42];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll_ailerons);

        _mav_put_float(buf, 12, pitch_elevator);

        _mav_put_float(buf, 16, yaw_rudder);

        _mav_put_float(buf, 20, throttle);

        _mav_put_float(buf, 24, aux1);

        _mav_put_float(buf, 28, aux2);

        _mav_put_float(buf, 32, aux3);

        _mav_put_float(buf, 36, aux4);

        _mav_put_uint8_t(buf, 40, mode);

        _mav_put_uint8_t(buf, 41, nav_mode);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);

#else

        mavlink_hil_controls_t packet;

        packet.time_usec = time_usec;

        packet.roll_ailerons = roll_ailerons;

        packet.pitch_elevator = pitch_elevator;

        packet.yaw_rudder = yaw_rudder;

        packet.throttle = throttle;

        packet.aux1 = aux1;

        packet.aux2 = aux2;

        packet.aux3 = aux3;

        packet.aux4 = aux4;

        packet.mode = mode;

        packet.nav_mode = nav_mode;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);

#endif

        msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;

        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63);

}

/**

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

 */

static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)

{

        return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);

}

/**

 * @brief Send a hil_controls message

 * @param chan MAVLink channel to send the message

 *

 * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)

 * @param roll_ailerons Control output -1 .. 1

 * @param pitch_elevator Control output -1 .. 1

 * @param yaw_rudder Control output -1 .. 1

 * @param throttle Throttle 0 .. 1

 * @param aux1 Aux 1, -1 .. 1

 * @param aux2 Aux 2, -1 .. 1

 * @param aux3 Aux 3, -1 .. 1

 * @param aux4 Aux 4, -1 .. 1

 * @param mode System mode (MAV_MODE)

 * @param nav_mode Navigation mode (MAV_NAV_MODE)

 */

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[42];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll_ailerons);

        _mav_put_float(buf, 12, pitch_elevator);

        _mav_put_float(buf, 16, yaw_rudder);

        _mav_put_float(buf, 20, throttle);

        _mav_put_float(buf, 24, aux1);

        _mav_put_float(buf, 28, aux2);

        _mav_put_float(buf, 32, aux3);

        _mav_put_float(buf, 36, aux4);

        _mav_put_uint8_t(buf, 40, mode);

        _mav_put_uint8_t(buf, 41, nav_mode);

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63);

#else

        mavlink_hil_controls_t packet;

        packet.time_usec = time_usec;

        packet.roll_ailerons = roll_ailerons;

        packet.pitch_elevator = pitch_elevator;

        packet.yaw_rudder = yaw_rudder;

        packet.throttle = throttle;

        packet.aux1 = aux1;

        packet.aux2 = aux2;

        packet.aux3 = aux3;

        packet.aux4 = aux4;

        packet.mode = mode;

        packet.nav_mode = nav_mode;

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63);

#endif

}

#endif

// MESSAGE HIL_CONTROLS UNPACKING

/**

 * @brief Get field time_usec from hil_controls message

 *

 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)

 */

static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint64_t(msg,  0);

}

/**

 * @brief Get field roll_ailerons from hil_controls message

 *

 * @return Control output -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  8);

}

/**

 * @brief Get field pitch_elevator from hil_controls message

 *

 * @return Control output -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  12);

}

/**

 * @brief Get field yaw_rudder from hil_controls message

 *

 * @return Control output -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  16);

}

/**

 * @brief Get field throttle from hil_controls message

 *

 * @return Throttle 0 .. 1

 */

static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  20);

}

/**

 * @brief Get field aux1 from hil_controls message

 *

 * @return Aux 1, -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  24);

}

/**

 * @brief Get field aux2 from hil_controls message

 *

 * @return Aux 2, -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  28);

}

/**

 * @brief Get field aux3 from hil_controls message

 *

 * @return Aux 3, -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  32);

}

/**

 * @brief Get field aux4 from hil_controls message

 *

 * @return Aux 4, -1 .. 1

 */

static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  36);

}

/**

 * @brief Get field mode from hil_controls message

 *

 * @return System mode (MAV_MODE)

 */

static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  40);

}

/**

 * @brief Get field nav_mode from hil_controls message

 *

 * @return Navigation mode (MAV_NAV_MODE)

 */

static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint8_t(msg,  41);

}

/**

 * @brief Decode a hil_controls message into a struct

 *

 * @param msg The message to decode

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

 */

static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)

{

#if MAVLINK_NEED_BYTE_SWAP

        hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg);

        hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);

        hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);

        hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);

        hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);

        hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg);

        hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg);

        hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg);

        hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg);

        hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);

        hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);

#else

        memcpy(hil_controls, _MAV_PAYLOAD(msg), 42);

#endif

}