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// MESSAGE HIL_STATE PACKING

#define MAVLINK_MSG_ID_HIL_STATE 90

typedef struct __mavlink_hil_state_t

{

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

 float roll; ///< Roll angle (rad)

 float pitch; ///< Pitch angle (rad)

 float yaw; ///< Yaw angle (rad)

 float rollspeed; ///< Roll angular speed (rad/s)

 float pitchspeed; ///< Pitch angular speed (rad/s)

 float yawspeed; ///< Yaw angular speed (rad/s)

 int32_t lat; ///< Latitude, expressed as * 1E7

 int32_t lon; ///< Longitude, expressed as * 1E7

 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)

 int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100

 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100

 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100

 int16_t xacc; ///< X acceleration (mg)

 int16_t yacc; ///< Y acceleration (mg)

 int16_t zacc; ///< Z acceleration (mg)

} mavlink_hil_state_t;

#define MAVLINK_MSG_ID_HIL_STATE_LEN 56

#define MAVLINK_MSG_ID_90_LEN 56

#define MAVLINK_MESSAGE_INFO_HIL_STATE { \

        "HIL_STATE", \

        16, \

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

         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \

         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \

         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \

         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \

         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \

         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \

         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \

         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \

         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \

         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \

         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \

         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \

         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \

         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \

         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \

         } \

}

/**

 * @brief Pack a hil_state 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 Roll angle (rad)

 * @param pitch Pitch angle (rad)

 * @param yaw Yaw angle (rad)

 * @param rollspeed Roll angular speed (rad/s)

 * @param pitchspeed Pitch angular speed (rad/s)

 * @param yawspeed Yaw angular speed (rad/s)

 * @param lat Latitude, expressed as * 1E7

 * @param lon Longitude, expressed as * 1E7

 * @param alt Altitude in meters, expressed as * 1000 (millimeters)

 * @param vx Ground X Speed (Latitude), expressed as m/s * 100

 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100

 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100

 * @param xacc X acceleration (mg)

 * @param yacc Y acceleration (mg)

 * @param zacc Z acceleration (mg)

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

 */

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

                                                       uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[56];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll);

        _mav_put_float(buf, 12, pitch);

        _mav_put_float(buf, 16, yaw);

        _mav_put_float(buf, 20, rollspeed);

        _mav_put_float(buf, 24, pitchspeed);

        _mav_put_float(buf, 28, yawspeed);

        _mav_put_int32_t(buf, 32, lat);

        _mav_put_int32_t(buf, 36, lon);

        _mav_put_int32_t(buf, 40, alt);

        _mav_put_int16_t(buf, 44, vx);

        _mav_put_int16_t(buf, 46, vy);

        _mav_put_int16_t(buf, 48, vz);

        _mav_put_int16_t(buf, 50, xacc);

        _mav_put_int16_t(buf, 52, yacc);

        _mav_put_int16_t(buf, 54, zacc);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);

#else

        mavlink_hil_state_t packet;

        packet.time_usec = time_usec;

        packet.roll = roll;

        packet.pitch = pitch;

        packet.yaw = yaw;

        packet.rollspeed = rollspeed;

        packet.pitchspeed = pitchspeed;

        packet.yawspeed = yawspeed;

        packet.lat = lat;

        packet.lon = lon;

        packet.alt = alt;

        packet.vx = vx;

        packet.vy = vy;

        packet.vz = vz;

        packet.xacc = xacc;

        packet.yacc = yacc;

        packet.zacc = zacc;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);

#endif

        msg->msgid = MAVLINK_MSG_ID_HIL_STATE;

        return mavlink_finalize_message(msg, system_id, component_id, 56, 183);

}

/**

 * @brief Pack a hil_state 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 Roll angle (rad)

 * @param pitch Pitch angle (rad)

 * @param yaw Yaw angle (rad)

 * @param rollspeed Roll angular speed (rad/s)

 * @param pitchspeed Pitch angular speed (rad/s)

 * @param yawspeed Yaw angular speed (rad/s)

 * @param lat Latitude, expressed as * 1E7

 * @param lon Longitude, expressed as * 1E7

 * @param alt Altitude in meters, expressed as * 1000 (millimeters)

 * @param vx Ground X Speed (Latitude), expressed as m/s * 100

 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100

 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100

 * @param xacc X acceleration (mg)

 * @param yacc Y acceleration (mg)

 * @param zacc Z acceleration (mg)

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

 */

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

                                                           mavlink_message_t* msg,

                                                           uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[56];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll);

        _mav_put_float(buf, 12, pitch);

        _mav_put_float(buf, 16, yaw);

        _mav_put_float(buf, 20, rollspeed);

        _mav_put_float(buf, 24, pitchspeed);

        _mav_put_float(buf, 28, yawspeed);

        _mav_put_int32_t(buf, 32, lat);

        _mav_put_int32_t(buf, 36, lon);

        _mav_put_int32_t(buf, 40, alt);

        _mav_put_int16_t(buf, 44, vx);

        _mav_put_int16_t(buf, 46, vy);

        _mav_put_int16_t(buf, 48, vz);

        _mav_put_int16_t(buf, 50, xacc);

        _mav_put_int16_t(buf, 52, yacc);

        _mav_put_int16_t(buf, 54, zacc);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);

#else

        mavlink_hil_state_t packet;

        packet.time_usec = time_usec;

        packet.roll = roll;

        packet.pitch = pitch;

        packet.yaw = yaw;

        packet.rollspeed = rollspeed;

        packet.pitchspeed = pitchspeed;

        packet.yawspeed = yawspeed;

        packet.lat = lat;

        packet.lon = lon;

        packet.alt = alt;

        packet.vx = vx;

        packet.vy = vy;

        packet.vz = vz;

        packet.xacc = xacc;

        packet.yacc = yacc;

        packet.zacc = zacc;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);

#endif

        msg->msgid = MAVLINK_MSG_ID_HIL_STATE;

        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56, 183);

}

/**

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

 */

static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)

{

        return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);

}

/**

 * @brief Send a hil_state message

 * @param chan MAVLink channel to send the message

 *

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

 * @param roll Roll angle (rad)

 * @param pitch Pitch angle (rad)

 * @param yaw Yaw angle (rad)

 * @param rollspeed Roll angular speed (rad/s)

 * @param pitchspeed Pitch angular speed (rad/s)

 * @param yawspeed Yaw angular speed (rad/s)

 * @param lat Latitude, expressed as * 1E7

 * @param lon Longitude, expressed as * 1E7

 * @param alt Altitude in meters, expressed as * 1000 (millimeters)

 * @param vx Ground X Speed (Latitude), expressed as m/s * 100

 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100

 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100

 * @param xacc X acceleration (mg)

 * @param yacc Y acceleration (mg)

 * @param zacc Z acceleration (mg)

 */

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)

{

#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

        char buf[56];

        _mav_put_uint64_t(buf, 0, time_usec);

        _mav_put_float(buf, 8, roll);

        _mav_put_float(buf, 12, pitch);

        _mav_put_float(buf, 16, yaw);

        _mav_put_float(buf, 20, rollspeed);

        _mav_put_float(buf, 24, pitchspeed);

        _mav_put_float(buf, 28, yawspeed);

        _mav_put_int32_t(buf, 32, lat);

        _mav_put_int32_t(buf, 36, lon);

        _mav_put_int32_t(buf, 40, alt);

        _mav_put_int16_t(buf, 44, vx);

        _mav_put_int16_t(buf, 46, vy);

        _mav_put_int16_t(buf, 48, vz);

        _mav_put_int16_t(buf, 50, xacc);

        _mav_put_int16_t(buf, 52, yacc);

        _mav_put_int16_t(buf, 54, zacc);

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56, 183);

#else

        mavlink_hil_state_t packet;

        packet.time_usec = time_usec;

        packet.roll = roll;

        packet.pitch = pitch;

        packet.yaw = yaw;

        packet.rollspeed = rollspeed;

        packet.pitchspeed = pitchspeed;

        packet.yawspeed = yawspeed;

        packet.lat = lat;

        packet.lon = lon;

        packet.alt = alt;

        packet.vx = vx;

        packet.vy = vy;

        packet.vz = vz;

        packet.xacc = xacc;

        packet.yacc = yacc;

        packet.zacc = zacc;

        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56, 183);

#endif

}

#endif

// MESSAGE HIL_STATE UNPACKING

/**

 * @brief Get field time_usec from hil_state message

 *

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

 */

static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)

{

        return _MAV_RETURN_uint64_t(msg,  0);

}

/**

 * @brief Get field roll from hil_state message

 *

 * @return Roll angle (rad)

 */

static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  8);

}

/**

 * @brief Get field pitch from hil_state message

 *

 * @return Pitch angle (rad)

 */

static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  12);

}

/**

 * @brief Get field yaw from hil_state message

 *

 * @return Yaw angle (rad)

 */

static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  16);

}

/**

 * @brief Get field rollspeed from hil_state message

 *

 * @return Roll angular speed (rad/s)

 */

static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  20);

}

/**

 * @brief Get field pitchspeed from hil_state message

 *

 * @return Pitch angular speed (rad/s)

 */

static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  24);

}

/**

 * @brief Get field yawspeed from hil_state message

 *

 * @return Yaw angular speed (rad/s)

 */

static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)

{

        return _MAV_RETURN_float(msg,  28);

}

/**

 * @brief Get field lat from hil_state message

 *

 * @return Latitude, expressed as * 1E7

 */

static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int32_t(msg,  32);

}

/**

 * @brief Get field lon from hil_state message

 *

 * @return Longitude, expressed as * 1E7

 */

static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int32_t(msg,  36);

}

/**

 * @brief Get field alt from hil_state message

 *

 * @return Altitude in meters, expressed as * 1000 (millimeters)

 */

static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int32_t(msg,  40);

}

/**

 * @brief Get field vx from hil_state message

 *

 * @return Ground X Speed (Latitude), expressed as m/s * 100

 */

static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  44);

}

/**

 * @brief Get field vy from hil_state message

 *

 * @return Ground Y Speed (Longitude), expressed as m/s * 100

 */

static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  46);

}

/**

 * @brief Get field vz from hil_state message

 *

 * @return Ground Z Speed (Altitude), expressed as m/s * 100

 */

static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  48);

}

/**

 * @brief Get field xacc from hil_state message

 *

 * @return X acceleration (mg)

 */

static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  50);

}

/**

 * @brief Get field yacc from hil_state message

 *

 * @return Y acceleration (mg)

 */

static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  52);

}

/**

 * @brief Get field zacc from hil_state message

 *

 * @return Z acceleration (mg)

 */

static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)

{

        return _MAV_RETURN_int16_t(msg,  54);

}

/**

 * @brief Decode a hil_state message into a struct

 *

 * @param msg The message to decode

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

 */

static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)

{

#if MAVLINK_NEED_BYTE_SWAP

        hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);

        hil_state->roll = mavlink_msg_hil_state_get_roll(msg);

        hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);

        hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);

        hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);

        hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);

        hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);

        hil_state->lat = mavlink_msg_hil_state_get_lat(msg);

        hil_state->lon = mavlink_msg_hil_state_get_lon(msg);

        hil_state->alt = mavlink_msg_hil_state_get_alt(msg);

        hil_state->vx = mavlink_msg_hil_state_get_vx(msg);

        hil_state->vy = mavlink_msg_hil_state_get_vy(msg);

        hil_state->vz = mavlink_msg_hil_state_get_vz(msg);

        hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);

        hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);

        hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);

#else

        memcpy(hil_state, _MAV_PAYLOAD(msg), 56);

#endif

}