ardupilot/libraries/GCS_MAVLink/include/common/mavlink_msg_position_target.h

// MESSAGE POSITION_TARGET PACKING

#define MAVLINK_MSG_ID_POSITION_TARGET 63

typedef struct __mavlink_position_target_t 
{
	float x; ///< x position
	float y; ///< y position
	float z; ///< z position
	float yaw; ///< yaw orientation in radians, 0 = NORTH

} mavlink_position_target_t;



/**
 * @brief Pack a position_target 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 x x position
 * @param y y position
 * @param z z position
 * @param yaw yaw orientation in radians, 0 = NORTH
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, float yaw)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;

	i += put_float_by_index(x, i, msg->payload); // x position
	i += put_float_by_index(y, i, msg->payload); // y position
	i += put_float_by_index(z, i, msg->payload); // z position
	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

/**
 * @brief Pack a position_target message
 * @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 x x position
 * @param y y position
 * @param z z position
 * @param yaw yaw orientation in radians, 0 = NORTH
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;

	i += put_float_by_index(x, i, msg->payload); // x position
	i += put_float_by_index(y, i, msg->payload); // y position
	i += put_float_by_index(z, i, msg->payload); // z position
	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

/**
 * @brief Encode a position_target 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 position_target C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
{
	return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
}

/**
 * @brief Send a position_target message
 * @param chan MAVLink channel to send the message
 *
 * @param x x position
 * @param y y position
 * @param z z position
 * @param yaw yaw orientation in radians, 0 = NORTH
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
{
	mavlink_message_t msg;
	mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE POSITION_TARGET UNPACKING

/**
 * @brief Get field x from position_target message
 *
 * @return x position
 */
static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload)[0];
	r.b[2] = (msg->payload)[1];
	r.b[1] = (msg->payload)[2];
	r.b[0] = (msg->payload)[3];
	return (float)r.f;
}

/**
 * @brief Get field y from position_target message
 *
 * @return y position
 */
static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field z from position_target message
 *
 * @return z position
 */
static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field yaw from position_target message
 *
 * @return yaw orientation in radians, 0 = NORTH
 */
static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Decode a position_target message into a struct
 *
 * @param msg The message to decode
 * @param position_target C-struct to decode the message contents into
 */
static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
{
	position_target->x = mavlink_msg_position_target_get_x(msg);
	position_target->y = mavlink_msg_position_target_get_y(msg);
	position_target->z = mavlink_msg_position_target_get_z(msg);
	position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
}