// MESSAGE SET_HOME_POSITION PACKING #define MAVLINK_MSG_ID_SET_HOME_POSITION 243 MAVPACKED( typedef struct __mavlink_set_home_position_t { int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/ int32_t longitude; /*< Longitude (WGS84, in degrees * 1E7*/ int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/ float x; /*< Local X position of this position in the local coordinate frame*/ float y; /*< Local Y position of this position in the local coordinate frame*/ float z; /*< Local Z position of this position in the local coordinate frame*/ float q[4]; /*< World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground*/ float approach_x; /*< Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ float approach_y; /*< Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ float approach_z; /*< Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ uint8_t target_system; /*< System ID.*/ }) mavlink_set_home_position_t; #define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 53 #define MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN 53 #define MAVLINK_MSG_ID_243_LEN 53 #define MAVLINK_MSG_ID_243_MIN_LEN 53 #define MAVLINK_MSG_ID_SET_HOME_POSITION_CRC 85 #define MAVLINK_MSG_ID_243_CRC 85 #define MAVLINK_MSG_SET_HOME_POSITION_FIELD_Q_LEN 4 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \ 243, \ "SET_HOME_POSITION", \ 11, \ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \ { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \ { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \ { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \ "SET_HOME_POSITION", \ 11, \ { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \ { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \ { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \ { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \ { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \ { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \ } \ } #endif /** * @brief Pack a set_home_position 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 target_system System ID. * @param latitude Latitude (WGS84), in degrees * 1E7 * @param longitude Longitude (WGS84, in degrees * 1E7 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) * @param x Local X position of this position in the local coordinate frame * @param y Local Y position of this position in the local coordinate frame * @param z Local Z position of this position in the local coordinate frame * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; _mav_put_int32_t(buf, 0, latitude); _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); _mav_put_float(buf, 12, x); _mav_put_float(buf, 16, y); _mav_put_float(buf, 20, z); _mav_put_float(buf, 40, approach_x); _mav_put_float(buf, 44, approach_y); _mav_put_float(buf, 48, approach_z); _mav_put_uint8_t(buf, 52, target_system); _mav_put_float_array(buf, 24, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); #else mavlink_set_home_position_t packet; packet.latitude = latitude; packet.longitude = longitude; packet.altitude = altitude; packet.x = x; packet.y = y; packet.z = z; packet.approach_x = approach_x; packet.approach_y = approach_y; packet.approach_z = approach_z; packet.target_system = target_system; mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); } /** * @brief Pack a set_home_position 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 will be sent over * @param msg The MAVLink message to compress the data into * @param target_system System ID. * @param latitude Latitude (WGS84), in degrees * 1E7 * @param longitude Longitude (WGS84, in degrees * 1E7 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) * @param x Local X position of this position in the local coordinate frame * @param y Local Y position of this position in the local coordinate frame * @param z Local Z position of this position in the local coordinate frame * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; _mav_put_int32_t(buf, 0, latitude); _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); _mav_put_float(buf, 12, x); _mav_put_float(buf, 16, y); _mav_put_float(buf, 20, z); _mav_put_float(buf, 40, approach_x); _mav_put_float(buf, 44, approach_y); _mav_put_float(buf, 48, approach_z); _mav_put_uint8_t(buf, 52, target_system); _mav_put_float_array(buf, 24, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); #else mavlink_set_home_position_t packet; packet.latitude = latitude; packet.longitude = longitude; packet.altitude = altitude; packet.x = x; packet.y = y; packet.z = z; packet.approach_x = approach_x; packet.approach_y = approach_y; packet.approach_z = approach_z; packet.target_system = target_system; mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); } /** * @brief Encode a set_home_position struct * * @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 set_home_position C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position) { return mavlink_msg_set_home_position_pack(system_id, component_id, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); } /** * @brief Encode a set_home_position struct 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 will be sent over * @param msg The MAVLink message to compress the data into * @param set_home_position C-struct to read the message contents from */ static inline uint16_t mavlink_msg_set_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position) { return mavlink_msg_set_home_position_pack_chan(system_id, component_id, chan, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); } /** * @brief Send a set_home_position message * @param chan MAVLink channel to send the message * * @param target_system System ID. * @param latitude Latitude (WGS84), in degrees * 1E7 * @param longitude Longitude (WGS84, in degrees * 1E7 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) * @param x Local X position of this position in the local coordinate frame * @param y Local Y position of this position in the local coordinate frame * @param z Local Z position of this position in the local coordinate frame * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; _mav_put_int32_t(buf, 0, latitude); _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); _mav_put_float(buf, 12, x); _mav_put_float(buf, 16, y); _mav_put_float(buf, 20, z); _mav_put_float(buf, 40, approach_x); _mav_put_float(buf, 44, approach_y); _mav_put_float(buf, 48, approach_z); _mav_put_uint8_t(buf, 52, target_system); _mav_put_float_array(buf, 24, q, 4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); #else mavlink_set_home_position_t packet; packet.latitude = latitude; packet.longitude = longitude; packet.altitude = altitude; packet.x = x; packet.y = y; packet.z = z; packet.approach_x = approach_x; packet.approach_y = approach_y; packet.approach_z = approach_z; packet.target_system = target_system; mav_array_memcpy(packet.q, q, sizeof(float)*4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); #endif } /** * @brief Send a set_home_position message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_set_home_position_send_struct(mavlink_channel_t chan, const mavlink_set_home_position_t* set_home_position) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_set_home_position_send(chan, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)set_home_position, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); #endif } #if MAVLINK_MSG_ID_SET_HOME_POSITION_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_int32_t(buf, 0, latitude); _mav_put_int32_t(buf, 4, longitude); _mav_put_int32_t(buf, 8, altitude); _mav_put_float(buf, 12, x); _mav_put_float(buf, 16, y); _mav_put_float(buf, 20, z); _mav_put_float(buf, 40, approach_x); _mav_put_float(buf, 44, approach_y); _mav_put_float(buf, 48, approach_z); _mav_put_uint8_t(buf, 52, target_system); _mav_put_float_array(buf, 24, q, 4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); #else mavlink_set_home_position_t *packet = (mavlink_set_home_position_t *)msgbuf; packet->latitude = latitude; packet->longitude = longitude; packet->altitude = altitude; packet->x = x; packet->y = y; packet->z = z; packet->approach_x = approach_x; packet->approach_y = approach_y; packet->approach_z = approach_z; packet->target_system = target_system; mav_array_memcpy(packet->q, q, sizeof(float)*4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); #endif } #endif #endif // MESSAGE SET_HOME_POSITION UNPACKING /** * @brief Get field target_system from set_home_position message * * @return System ID. */ static inline uint8_t mavlink_msg_set_home_position_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 52); } /** * @brief Get field latitude from set_home_position message * * @return Latitude (WGS84), in degrees * 1E7 */ static inline int32_t mavlink_msg_set_home_position_get_latitude(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 0); } /** * @brief Get field longitude from set_home_position message * * @return Longitude (WGS84, in degrees * 1E7 */ static inline int32_t mavlink_msg_set_home_position_get_longitude(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 4); } /** * @brief Get field altitude from set_home_position message * * @return Altitude (AMSL), in meters * 1000 (positive for up) */ static inline int32_t mavlink_msg_set_home_position_get_altitude(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field x from set_home_position message * * @return Local X position of this position in the local coordinate frame */ static inline float mavlink_msg_set_home_position_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field y from set_home_position message * * @return Local Y position of this position in the local coordinate frame */ static inline float mavlink_msg_set_home_position_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field z from set_home_position message * * @return Local Z position of this position in the local coordinate frame */ static inline float mavlink_msg_set_home_position_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field q from set_home_position message * * @return World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground */ static inline uint16_t mavlink_msg_set_home_position_get_q(const mavlink_message_t* msg, float *q) { return _MAV_RETURN_float_array(msg, q, 4, 24); } /** * @brief Get field approach_x from set_home_position message * * @return Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. */ static inline float mavlink_msg_set_home_position_get_approach_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field approach_y from set_home_position message * * @return Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. */ static inline float mavlink_msg_set_home_position_get_approach_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field approach_z from set_home_position message * * @return Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. */ static inline float mavlink_msg_set_home_position_get_approach_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Decode a set_home_position message into a struct * * @param msg The message to decode * @param set_home_position C-struct to decode the message contents into */ static inline void mavlink_msg_set_home_position_decode(const mavlink_message_t* msg, mavlink_set_home_position_t* set_home_position) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS set_home_position->latitude = mavlink_msg_set_home_position_get_latitude(msg); set_home_position->longitude = mavlink_msg_set_home_position_get_longitude(msg); set_home_position->altitude = mavlink_msg_set_home_position_get_altitude(msg); set_home_position->x = mavlink_msg_set_home_position_get_x(msg); set_home_position->y = mavlink_msg_set_home_position_get_y(msg); set_home_position->z = mavlink_msg_set_home_position_get_z(msg); mavlink_msg_set_home_position_get_q(msg, set_home_position->q); set_home_position->approach_x = mavlink_msg_set_home_position_get_approach_x(msg); set_home_position->approach_y = mavlink_msg_set_home_position_get_approach_y(msg); set_home_position->approach_z = mavlink_msg_set_home_position_get_approach_z(msg); set_home_position->target_system = mavlink_msg_set_home_position_get_target_system(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SET_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_SET_HOME_POSITION_LEN; memset(set_home_position, 0, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); memcpy(set_home_position, _MAV_PAYLOAD(msg), len); #endif }