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_us; ///< 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_us", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
         { "roll_ailerons", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
         { "pitch_elevator", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
         { "yaw_rudder", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
         { "throttle", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
         { "aux1", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
         { "aux2", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
         { "aux3", MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
         { "aux4", MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
         { "mode", MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
         { "nav_mode", 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_us 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_us, 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)
{
	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;

	put_uint64_t_by_index(msg, 0, time_us); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	put_float_by_index(msg, 8, roll_ailerons); // Control output -1 .. 1
	put_float_by_index(msg, 12, pitch_elevator); // Control output -1 .. 1
	put_float_by_index(msg, 16, yaw_rudder); // Control output -1 .. 1
	put_float_by_index(msg, 20, throttle); // Throttle 0 .. 1
	put_float_by_index(msg, 24, aux1); // Aux 1, -1 .. 1
	put_float_by_index(msg, 28, aux2); // Aux 2, -1 .. 1
	put_float_by_index(msg, 32, aux3); // Aux 3, -1 .. 1
	put_float_by_index(msg, 36, aux4); // Aux 4, -1 .. 1
	put_uint8_t_by_index(msg, 40, mode); // System mode (MAV_MODE)
	put_uint8_t_by_index(msg, 41, nav_mode); // Navigation mode (MAV_NAV_MODE)

	return mavlink_finalize_message(msg, system_id, component_id, 42, 250);
}

/**
 * @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 -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_us,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)
{
	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;

	put_uint64_t_by_index(msg, 0, time_us); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	put_float_by_index(msg, 8, roll_ailerons); // Control output -1 .. 1
	put_float_by_index(msg, 12, pitch_elevator); // Control output -1 .. 1
	put_float_by_index(msg, 16, yaw_rudder); // Control output -1 .. 1
	put_float_by_index(msg, 20, throttle); // Throttle 0 .. 1
	put_float_by_index(msg, 24, aux1); // Aux 1, -1 .. 1
	put_float_by_index(msg, 28, aux2); // Aux 2, -1 .. 1
	put_float_by_index(msg, 32, aux3); // Aux 3, -1 .. 1
	put_float_by_index(msg, 36, aux4); // Aux 4, -1 .. 1
	put_uint8_t_by_index(msg, 40, mode); // System mode (MAV_MODE)
	put_uint8_t_by_index(msg, 41, nav_mode); // Navigation mode (MAV_NAV_MODE)

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 250);
}

/**
 * @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->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_us 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_us, 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)
{
	MAVLINK_ALIGNED_MESSAGE(msg, 42);
	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;

	put_uint64_t_by_index(msg, 0, time_us); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
	put_float_by_index(msg, 8, roll_ailerons); // Control output -1 .. 1
	put_float_by_index(msg, 12, pitch_elevator); // Control output -1 .. 1
	put_float_by_index(msg, 16, yaw_rudder); // Control output -1 .. 1
	put_float_by_index(msg, 20, throttle); // Throttle 0 .. 1
	put_float_by_index(msg, 24, aux1); // Aux 1, -1 .. 1
	put_float_by_index(msg, 28, aux2); // Aux 2, -1 .. 1
	put_float_by_index(msg, 32, aux3); // Aux 3, -1 .. 1
	put_float_by_index(msg, 36, aux4); // Aux 4, -1 .. 1
	put_uint8_t_by_index(msg, 40, mode); // System mode (MAV_MODE)
	put_uint8_t_by_index(msg, 41, nav_mode); // Navigation mode (MAV_NAV_MODE)

	mavlink_finalize_message_chan_send(msg, chan, 42, 250);
}

#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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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 MAVLINK_MSG_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_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->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, MAVLINK_PAYLOAD(msg), 42);
#endif
}