LibrePilot/flight/libraries/mavlink/v1.0/common/mavlink_msg_hil_controls.h

// 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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    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 // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
}

#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

// 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
}