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#ifndef MAVLINK_TYPES_H_
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#define MAVLINK_TYPES_H_
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#include <inttypes.h>
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#ifndef MAVLINK_MAX_PAYLOAD_LEN
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// it is possible to override this, but be careful!
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#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
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#endif
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#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
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#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
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#define MAVLINK_NUM_CHECKSUM_BYTES 2
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#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
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#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
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#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
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#define MAVLINK_EXTENDED_HEADER_LEN 14
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#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
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  /* full fledged 32bit++ OS */
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  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
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#else
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  /* small microcontrollers */
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  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
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#endif
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#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
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typedef struct param_union {
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        union {
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                float param_float;
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                int32_t param_int32;
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                uint32_t param_uint32;
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                uint8_t param_uint8;
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                uint8_t bytes[4];
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        };
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        uint8_t type;
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} mavlink_param_union_t;
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typedef struct __mavlink_system {
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    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
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    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
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    uint8_t type;    ///< Unused, can be used by user to store the system's type
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    uint8_t state;   ///< Unused, can be used by user to store the system's state
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    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
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    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
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} mavlink_system_t;
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typedef struct __mavlink_message {
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        uint16_t checksum; /// sent at end of packet
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        uint8_t magic;   ///< protocol magic marker
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        uint8_t len;     ///< Length of payload
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        uint8_t seq;     ///< Sequence of packet
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        uint8_t sysid;   ///< ID of message sender system/aircraft
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        uint8_t compid;  ///< ID of the message sender component
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        uint8_t msgid;   ///< ID of message in payload
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        uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
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} mavlink_message_t;
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typedef struct __mavlink_extended_message {
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       mavlink_message_t base_msg;
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       int32_t extended_payload_len;   ///< Length of extended payload if any
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       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
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} mavlink_extended_message_t;
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typedef enum {
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        MAVLINK_TYPE_CHAR     = 0,
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        MAVLINK_TYPE_UINT8_T  = 1,
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        MAVLINK_TYPE_INT8_T   = 2,
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        MAVLINK_TYPE_UINT16_T = 3,
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        MAVLINK_TYPE_INT16_T  = 4,
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        MAVLINK_TYPE_UINT32_T = 5,
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        MAVLINK_TYPE_INT32_T  = 6,
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        MAVLINK_TYPE_UINT64_T = 7,
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        MAVLINK_TYPE_INT64_T  = 8,
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        MAVLINK_TYPE_FLOAT    = 9,
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        MAVLINK_TYPE_DOUBLE   = 10
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} mavlink_message_type_t;
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#define MAVLINK_MAX_FIELDS 64
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typedef struct __mavlink_field_info {
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        const char *name;                 // name of this field
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        const char *print_format;         // printing format hint, or NULL
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        mavlink_message_type_t type;      // type of this field
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        unsigned int array_length;        // if non-zero, field is an array
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        unsigned int wire_offset;         // offset of each field in the payload
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        unsigned int structure_offset;    // offset in a C structure
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} mavlink_field_info_t;
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// note that in this structure the order of fields is the order
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// in the XML file, not necessary the wire order
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typedef struct __mavlink_message_info {
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        const char *name;                                      // name of the message
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        unsigned num_fields;                                   // how many fields in this message
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        mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
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} mavlink_message_info_t;
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#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
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#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
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// checksum is immediately after the payload bytes
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#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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typedef enum {
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    MAVLINK_COMM_0,
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    MAVLINK_COMM_1,
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    MAVLINK_COMM_2,
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    MAVLINK_COMM_3
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} mavlink_channel_t;
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/*
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 * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
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 * of buffers they will use. If more are used, then the result will be
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 * a stack overrun
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 */
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#ifndef MAVLINK_COMM_NUM_BUFFERS
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#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
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# define MAVLINK_COMM_NUM_BUFFERS 16
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#else
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# define MAVLINK_COMM_NUM_BUFFERS 4
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#endif
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#endif
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typedef enum {
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    MAVLINK_PARSE_STATE_UNINIT=0,
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    MAVLINK_PARSE_STATE_IDLE,
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    MAVLINK_PARSE_STATE_GOT_STX,
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    MAVLINK_PARSE_STATE_GOT_SEQ,
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    MAVLINK_PARSE_STATE_GOT_LENGTH,
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    MAVLINK_PARSE_STATE_GOT_SYSID,
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    MAVLINK_PARSE_STATE_GOT_COMPID,
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    MAVLINK_PARSE_STATE_GOT_MSGID,
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    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
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    MAVLINK_PARSE_STATE_GOT_CRC1
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} mavlink_parse_state_t; ///< The state machine for the comm parser
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typedef struct __mavlink_status {
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    uint8_t msg_received;               ///< Number of received messages
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    uint8_t buffer_overrun;             ///< Number of buffer overruns
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    uint8_t parse_error;                ///< Number of parse errors
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    mavlink_parse_state_t parse_state;  ///< Parsing state machine
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    uint8_t packet_idx;                 ///< Index in current packet
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    uint8_t current_rx_seq;             ///< Sequence number of last packet received
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    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
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    uint16_t packet_rx_success_count;   ///< Received packets
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    uint16_t packet_rx_drop_count;      ///< Number of packet drops
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} mavlink_status_t;
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#define MAVLINK_BIG_ENDIAN 0
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#define MAVLINK_LITTLE_ENDIAN 1
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#endif /* MAVLINK_TYPES_H_ */