zr-v4/libraries/GCS_MAVLink/include/common/mavlink_msg_hil_controls.h

// MESSAGE HIL_CONTROLS PACKING

#define MAVLINK_MSG_ID_HIL_CONTROLS 68

typedef struct __mavlink_hil_controls_t
{
 uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 float roll_ailerons; ///< Control output -3 .. 1
 float pitch_elevator; ///< Control output -1 .. 1
 float yaw_rudder; ///< Control output -1 .. 1
 float throttle; ///< Throttle 0 .. 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 26
#define MAVLINK_MSG_ID_68_LEN 26



#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
	"HIL_CONTROLS", \
	7, \
	{  { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
         { "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) }, \
         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \
         { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, 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_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 * @param roll_ailerons Control output -3 .. 1
 * @param pitch_elevator Control output -1 .. 1
 * @param yaw_rudder Control output -1 .. 1
 * @param throttle Throttle 0 .. 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_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[26];
	_mav_put_uint64_t(buf, 0, time_us);
	_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_uint8_t(buf, 24, mode);
	_mav_put_uint8_t(buf, 25, nav_mode);

        memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
	mavlink_hil_controls_t packet;
	packet.time_us = time_us;
	packet.roll_ailerons = roll_ailerons;
	packet.pitch_elevator = pitch_elevator;
	packet.yaw_rudder = yaw_rudder;
	packet.throttle = throttle;
	packet.mode = mode;
	packet.nav_mode = nav_mode;

        memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif

	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
	return mavlink_finalize_message(msg, system_id, component_id, 26);
}

/**
 * @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_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 * @param roll_ailerons Control output -3 .. 1
 * @param pitch_elevator Control output -1 .. 1
 * @param yaw_rudder Control output -1 .. 1
 * @param throttle Throttle 0 .. 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_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[26];
	_mav_put_uint64_t(buf, 0, time_us);
	_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_uint8_t(buf, 24, mode);
	_mav_put_uint8_t(buf, 25, nav_mode);

        memcpy(_MAV_PAYLOAD(msg), buf, 26);
#else
	mavlink_hil_controls_t packet;
	packet.time_us = time_us;
	packet.roll_ailerons = roll_ailerons;
	packet.pitch_elevator = pitch_elevator;
	packet.yaw_rudder = yaw_rudder;
	packet.throttle = throttle;
	packet.mode = mode;
	packet.nav_mode = nav_mode;

        memcpy(_MAV_PAYLOAD(msg), &packet, 26);
#endif

	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
}

/**
 * @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_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
}

/**
 * @brief Send a hil_controls message
 * @param chan MAVLink channel to send the message
 *
 * @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 * @param roll_ailerons Control output -3 .. 1
 * @param pitch_elevator Control output -1 .. 1
 * @param yaw_rudder Control output -1 .. 1
 * @param throttle Throttle 0 .. 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_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[26];
	_mav_put_uint64_t(buf, 0, time_us);
	_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_uint8_t(buf, 24, mode);
	_mav_put_uint8_t(buf, 25, nav_mode);

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26);
#else
	mavlink_hil_controls_t packet;
	packet.time_us = time_us;
	packet.roll_ailerons = roll_ailerons;
	packet.pitch_elevator = pitch_elevator;
	packet.yaw_rudder = yaw_rudder;
	packet.throttle = throttle;
	packet.mode = mode;
	packet.nav_mode = nav_mode;

	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26);
#endif
}

#endif

// MESSAGE HIL_CONTROLS UNPACKING


/**
 * @brief Get field time_us 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_us(const mavlink_message_t* msg)
{
	return _MAV_RETURN_uint64_t(msg,  0);
}

/**
 * @brief Get field roll_ailerons from hil_controls message
 *
 * @return Control output -3 .. 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 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,  24);
}

/**
 * @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,  25);
}

/**
 * @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_us = mavlink_msg_hil_controls_get_time_us(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->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), 26);
#endif
}