source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_set_home_position.h @ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 25.1 KB
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1// MESSAGE SET_HOME_POSITION PACKING
2
3#define MAVLINK_MSG_ID_SET_HOME_POSITION 243
4
5typedef struct MAVLINK_PACKED __mavlink_set_home_position_t
6{
7 int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
8 int32_t longitude; /*< Longitude (WGS84, in degrees * 1E7*/
9 int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
10 float x; /*< Local X position of this position in the local coordinate frame*/
11 float y; /*< Local Y position of this position in the local coordinate frame*/
12 float z; /*< Local Z position of this position in the local coordinate frame*/
13 float q[4]; /*< World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground*/
14 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.*/
15 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.*/
16 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.*/
17 uint8_t target_system; /*< System ID.*/
18} mavlink_set_home_position_t;
19
20#define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 53
21#define MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN 53
22#define MAVLINK_MSG_ID_243_LEN 53
23#define MAVLINK_MSG_ID_243_MIN_LEN 53
24
25#define MAVLINK_MSG_ID_SET_HOME_POSITION_CRC 85
26#define MAVLINK_MSG_ID_243_CRC 85
27
28#define MAVLINK_MSG_SET_HOME_POSITION_FIELD_Q_LEN 4
29
30#if MAVLINK_COMMAND_24BIT
31#define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
32        243, \
33        "SET_HOME_POSITION", \
34        11, \
35        {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
36         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
37         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
38         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \
39         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \
40         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \
41         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \
42         { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \
43         { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
44         { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
45         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
46         } \
47}
48#else
49#define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
50        "SET_HOME_POSITION", \
51        11, \
52        {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
53         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
54         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
55         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \
56         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \
57         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \
58         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \
59         { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \
60         { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
61         { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
62         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
63         } \
64}
65#endif
66
67/**
68 * @brief Pack a set_home_position message
69 * @param system_id ID of this system
70 * @param component_id ID of this component (e.g. 200 for IMU)
71 * @param msg The MAVLink message to compress the data into
72 *
73 * @param target_system System ID.
74 * @param latitude Latitude (WGS84), in degrees * 1E7
75 * @param longitude Longitude (WGS84, in degrees * 1E7
76 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
77 * @param x Local X position of this position in the local coordinate frame
78 * @param y Local Y position of this position in the local coordinate frame
79 * @param z Local Z position of this position in the local coordinate frame
80 * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
81 * @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.
82 * @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.
83 * @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.
84 * @return length of the message in bytes (excluding serial stream start sign)
85 */
86static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
87                                                       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)
88{
89#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
90        char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
91        _mav_put_int32_t(buf, 0, latitude);
92        _mav_put_int32_t(buf, 4, longitude);
93        _mav_put_int32_t(buf, 8, altitude);
94        _mav_put_float(buf, 12, x);
95        _mav_put_float(buf, 16, y);
96        _mav_put_float(buf, 20, z);
97        _mav_put_float(buf, 40, approach_x);
98        _mav_put_float(buf, 44, approach_y);
99        _mav_put_float(buf, 48, approach_z);
100        _mav_put_uint8_t(buf, 52, target_system);
101        _mav_put_float_array(buf, 24, q, 4);
102        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
103#else
104        mavlink_set_home_position_t packet;
105        packet.latitude = latitude;
106        packet.longitude = longitude;
107        packet.altitude = altitude;
108        packet.x = x;
109        packet.y = y;
110        packet.z = z;
111        packet.approach_x = approach_x;
112        packet.approach_y = approach_y;
113        packet.approach_z = approach_z;
114        packet.target_system = target_system;
115        mav_array_memcpy(packet.q, q, sizeof(float)*4);
116        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
117#endif
118
119        msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION;
120    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);
121}
122
123/**
124 * @brief Pack a set_home_position message on a channel
125 * @param system_id ID of this system
126 * @param component_id ID of this component (e.g. 200 for IMU)
127 * @param chan The MAVLink channel this message will be sent over
128 * @param msg The MAVLink message to compress the data into
129 * @param target_system System ID.
130 * @param latitude Latitude (WGS84), in degrees * 1E7
131 * @param longitude Longitude (WGS84, in degrees * 1E7
132 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
133 * @param x Local X position of this position in the local coordinate frame
134 * @param y Local Y position of this position in the local coordinate frame
135 * @param z Local Z position of this position in the local coordinate frame
136 * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
137 * @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.
138 * @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.
139 * @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.
140 * @return length of the message in bytes (excluding serial stream start sign)
141 */
142static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
143                                                           mavlink_message_t* msg,
144                                                           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)
145{
146#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
147        char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
148        _mav_put_int32_t(buf, 0, latitude);
149        _mav_put_int32_t(buf, 4, longitude);
150        _mav_put_int32_t(buf, 8, altitude);
151        _mav_put_float(buf, 12, x);
152        _mav_put_float(buf, 16, y);
153        _mav_put_float(buf, 20, z);
154        _mav_put_float(buf, 40, approach_x);
155        _mav_put_float(buf, 44, approach_y);
156        _mav_put_float(buf, 48, approach_z);
157        _mav_put_uint8_t(buf, 52, target_system);
158        _mav_put_float_array(buf, 24, q, 4);
159        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
160#else
161        mavlink_set_home_position_t packet;
162        packet.latitude = latitude;
163        packet.longitude = longitude;
164        packet.altitude = altitude;
165        packet.x = x;
166        packet.y = y;
167        packet.z = z;
168        packet.approach_x = approach_x;
169        packet.approach_y = approach_y;
170        packet.approach_z = approach_z;
171        packet.target_system = target_system;
172        mav_array_memcpy(packet.q, q, sizeof(float)*4);
173        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
174#endif
175
176        msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION;
177    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);
178}
179
180/**
181 * @brief Encode a set_home_position struct
182 *
183 * @param system_id ID of this system
184 * @param component_id ID of this component (e.g. 200 for IMU)
185 * @param msg The MAVLink message to compress the data into
186 * @param set_home_position C-struct to read the message contents from
187 */
188static 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)
189{
190        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);
191}
192
193/**
194 * @brief Encode a set_home_position struct on a channel
195 *
196 * @param system_id ID of this system
197 * @param component_id ID of this component (e.g. 200 for IMU)
198 * @param chan The MAVLink channel this message will be sent over
199 * @param msg The MAVLink message to compress the data into
200 * @param set_home_position C-struct to read the message contents from
201 */
202static 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)
203{
204        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);
205}
206
207/**
208 * @brief Send a set_home_position message
209 * @param chan MAVLink channel to send the message
210 *
211 * @param target_system System ID.
212 * @param latitude Latitude (WGS84), in degrees * 1E7
213 * @param longitude Longitude (WGS84, in degrees * 1E7
214 * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
215 * @param x Local X position of this position in the local coordinate frame
216 * @param y Local Y position of this position in the local coordinate frame
217 * @param z Local Z position of this position in the local coordinate frame
218 * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
219 * @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.
220 * @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.
221 * @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.
222 */
223#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
224
225static 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)
226{
227#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
228        char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN];
229        _mav_put_int32_t(buf, 0, latitude);
230        _mav_put_int32_t(buf, 4, longitude);
231        _mav_put_int32_t(buf, 8, altitude);
232        _mav_put_float(buf, 12, x);
233        _mav_put_float(buf, 16, y);
234        _mav_put_float(buf, 20, z);
235        _mav_put_float(buf, 40, approach_x);
236        _mav_put_float(buf, 44, approach_y);
237        _mav_put_float(buf, 48, approach_z);
238        _mav_put_uint8_t(buf, 52, target_system);
239        _mav_put_float_array(buf, 24, q, 4);
240    _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);
241#else
242        mavlink_set_home_position_t packet;
243        packet.latitude = latitude;
244        packet.longitude = longitude;
245        packet.altitude = altitude;
246        packet.x = x;
247        packet.y = y;
248        packet.z = z;
249        packet.approach_x = approach_x;
250        packet.approach_y = approach_y;
251        packet.approach_z = approach_z;
252        packet.target_system = target_system;
253        mav_array_memcpy(packet.q, q, sizeof(float)*4);
254    _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);
255#endif
256}
257
258/**
259 * @brief Send a set_home_position message
260 * @param chan MAVLink channel to send the message
261 * @param struct The MAVLink struct to serialize
262 */
263static inline void mavlink_msg_set_home_position_send_struct(mavlink_channel_t chan, const mavlink_set_home_position_t* set_home_position)
264{
265#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
266    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);
267#else
268    _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);
269#endif
270}
271
272#if MAVLINK_MSG_ID_SET_HOME_POSITION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
273/*
274  This varient of _send() can be used to save stack space by re-using
275  memory from the receive buffer.  The caller provides a
276  mavlink_message_t which is the size of a full mavlink message. This
277  is usually the receive buffer for the channel, and allows a reply to an
278  incoming message with minimum stack space usage.
279 */
280static 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)
281{
282#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
283        char *buf = (char *)msgbuf;
284        _mav_put_int32_t(buf, 0, latitude);
285        _mav_put_int32_t(buf, 4, longitude);
286        _mav_put_int32_t(buf, 8, altitude);
287        _mav_put_float(buf, 12, x);
288        _mav_put_float(buf, 16, y);
289        _mav_put_float(buf, 20, z);
290        _mav_put_float(buf, 40, approach_x);
291        _mav_put_float(buf, 44, approach_y);
292        _mav_put_float(buf, 48, approach_z);
293        _mav_put_uint8_t(buf, 52, target_system);
294        _mav_put_float_array(buf, 24, q, 4);
295    _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);
296#else
297        mavlink_set_home_position_t *packet = (mavlink_set_home_position_t *)msgbuf;
298        packet->latitude = latitude;
299        packet->longitude = longitude;
300        packet->altitude = altitude;
301        packet->x = x;
302        packet->y = y;
303        packet->z = z;
304        packet->approach_x = approach_x;
305        packet->approach_y = approach_y;
306        packet->approach_z = approach_z;
307        packet->target_system = target_system;
308        mav_array_memcpy(packet->q, q, sizeof(float)*4);
309    _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);
310#endif
311}
312#endif
313
314#endif
315
316// MESSAGE SET_HOME_POSITION UNPACKING
317
318
319/**
320 * @brief Get field target_system from set_home_position message
321 *
322 * @return System ID.
323 */
324static inline uint8_t mavlink_msg_set_home_position_get_target_system(const mavlink_message_t* msg)
325{
326        return _MAV_RETURN_uint8_t(msg,  52);
327}
328
329/**
330 * @brief Get field latitude from set_home_position message
331 *
332 * @return Latitude (WGS84), in degrees * 1E7
333 */
334static inline int32_t mavlink_msg_set_home_position_get_latitude(const mavlink_message_t* msg)
335{
336        return _MAV_RETURN_int32_t(msg,  0);
337}
338
339/**
340 * @brief Get field longitude from set_home_position message
341 *
342 * @return Longitude (WGS84, in degrees * 1E7
343 */
344static inline int32_t mavlink_msg_set_home_position_get_longitude(const mavlink_message_t* msg)
345{
346        return _MAV_RETURN_int32_t(msg,  4);
347}
348
349/**
350 * @brief Get field altitude from set_home_position message
351 *
352 * @return Altitude (AMSL), in meters * 1000 (positive for up)
353 */
354static inline int32_t mavlink_msg_set_home_position_get_altitude(const mavlink_message_t* msg)
355{
356        return _MAV_RETURN_int32_t(msg,  8);
357}
358
359/**
360 * @brief Get field x from set_home_position message
361 *
362 * @return Local X position of this position in the local coordinate frame
363 */
364static inline float mavlink_msg_set_home_position_get_x(const mavlink_message_t* msg)
365{
366        return _MAV_RETURN_float(msg,  12);
367}
368
369/**
370 * @brief Get field y from set_home_position message
371 *
372 * @return Local Y position of this position in the local coordinate frame
373 */
374static inline float mavlink_msg_set_home_position_get_y(const mavlink_message_t* msg)
375{
376        return _MAV_RETURN_float(msg,  16);
377}
378
379/**
380 * @brief Get field z from set_home_position message
381 *
382 * @return Local Z position of this position in the local coordinate frame
383 */
384static inline float mavlink_msg_set_home_position_get_z(const mavlink_message_t* msg)
385{
386        return _MAV_RETURN_float(msg,  20);
387}
388
389/**
390 * @brief Get field q from set_home_position message
391 *
392 * @return World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
393 */
394static inline uint16_t mavlink_msg_set_home_position_get_q(const mavlink_message_t* msg, float *q)
395{
396        return _MAV_RETURN_float_array(msg, q, 4,  24);
397}
398
399/**
400 * @brief Get field approach_x from set_home_position message
401 *
402 * @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.
403 */
404static inline float mavlink_msg_set_home_position_get_approach_x(const mavlink_message_t* msg)
405{
406        return _MAV_RETURN_float(msg,  40);
407}
408
409/**
410 * @brief Get field approach_y from set_home_position message
411 *
412 * @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.
413 */
414static inline float mavlink_msg_set_home_position_get_approach_y(const mavlink_message_t* msg)
415{
416        return _MAV_RETURN_float(msg,  44);
417}
418
419/**
420 * @brief Get field approach_z from set_home_position message
421 *
422 * @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.
423 */
424static inline float mavlink_msg_set_home_position_get_approach_z(const mavlink_message_t* msg)
425{
426        return _MAV_RETURN_float(msg,  48);
427}
428
429/**
430 * @brief Decode a set_home_position message into a struct
431 *
432 * @param msg The message to decode
433 * @param set_home_position C-struct to decode the message contents into
434 */
435static inline void mavlink_msg_set_home_position_decode(const mavlink_message_t* msg, mavlink_set_home_position_t* set_home_position)
436{
437#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
438        set_home_position->latitude = mavlink_msg_set_home_position_get_latitude(msg);
439        set_home_position->longitude = mavlink_msg_set_home_position_get_longitude(msg);
440        set_home_position->altitude = mavlink_msg_set_home_position_get_altitude(msg);
441        set_home_position->x = mavlink_msg_set_home_position_get_x(msg);
442        set_home_position->y = mavlink_msg_set_home_position_get_y(msg);
443        set_home_position->z = mavlink_msg_set_home_position_get_z(msg);
444        mavlink_msg_set_home_position_get_q(msg, set_home_position->q);
445        set_home_position->approach_x = mavlink_msg_set_home_position_get_approach_x(msg);
446        set_home_position->approach_y = mavlink_msg_set_home_position_get_approach_y(msg);
447        set_home_position->approach_z = mavlink_msg_set_home_position_get_approach_z(msg);
448        set_home_position->target_system = mavlink_msg_set_home_position_get_target_system(msg);
449#else
450        uint8_t len = msg->len < MAVLINK_MSG_ID_SET_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_SET_HOME_POSITION_LEN;
451        memset(set_home_position, 0, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
452        memcpy(set_home_position, _MAV_PAYLOAD(msg), len);
453#endif
454}
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