#pragma once
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// MESSAGE FW_SOARING_DATA PACKING
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#define MAVLINK_MSG_ID_FW_SOARING_DATA 8011
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typedef struct __mavlink_fw_soaring_data_t {
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uint64_t timestamp; /*< [ms] Timestamp*/
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uint64_t timestampModeChanged; /*< [ms] Timestamp since last mode change*/
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float xW; /*< [m/s] Thermal core updraft strength*/
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float xR; /*< [m] Thermal radius*/
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float xLat; /*< [deg] Thermal center latitude*/
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float xLon; /*< [deg] Thermal center longitude*/
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float VarW; /*< Variance W*/
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float VarR; /*< Variance R*/
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float VarLat; /*< Variance Lat*/
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float VarLon; /*< Variance Lon */
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float LoiterRadius; /*< [m] Suggested loiter radius*/
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float LoiterDirection; /*< Suggested loiter direction*/
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float DistToSoarPoint; /*< [m] Distance to soar point*/
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float vSinkExp; /*< [m/s] Expected sink rate at current airspeed, roll and throttle*/
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float z1_LocalUpdraftSpeed; /*< [m/s] Measurement / updraft speed at current/local airplane position*/
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float z2_DeltaRoll; /*< [deg] Measurement / roll angle tracking error*/
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float z1_exp; /*< Expected measurement 1*/
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float z2_exp; /*< Expected measurement 2*/
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float ThermalGSNorth; /*< [m/s] Thermal drift (from estimator prediction step only)*/
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float ThermalGSEast; /*< [m/s] Thermal drift (from estimator prediction step only)*/
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float TSE_dot; /*< [m/s] Total specific energy change (filtered)*/
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float DebugVar1; /*< Debug variable 1*/
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float DebugVar2; /*< Debug variable 2*/
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uint8_t ControlMode; /*< Control Mode [-]*/
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uint8_t valid; /*< Data valid [-]*/
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} mavlink_fw_soaring_data_t;
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#define MAVLINK_MSG_ID_FW_SOARING_DATA_LEN 102
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#define MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN 102
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#define MAVLINK_MSG_ID_8011_LEN 102
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#define MAVLINK_MSG_ID_8011_MIN_LEN 102
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#define MAVLINK_MSG_ID_FW_SOARING_DATA_CRC 20
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#define MAVLINK_MSG_ID_8011_CRC 20
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_FW_SOARING_DATA { \
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8011, \
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"FW_SOARING_DATA", \
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25, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_fw_soaring_data_t, timestamp) }, \
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{ "timestampModeChanged", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_fw_soaring_data_t, timestampModeChanged) }, \
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{ "xW", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fw_soaring_data_t, xW) }, \
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{ "xR", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fw_soaring_data_t, xR) }, \
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{ "xLat", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fw_soaring_data_t, xLat) }, \
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{ "xLon", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fw_soaring_data_t, xLon) }, \
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{ "VarW", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fw_soaring_data_t, VarW) }, \
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{ "VarR", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fw_soaring_data_t, VarR) }, \
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{ "VarLat", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fw_soaring_data_t, VarLat) }, \
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{ "VarLon", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fw_soaring_data_t, VarLon) }, \
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{ "LoiterRadius", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fw_soaring_data_t, LoiterRadius) }, \
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{ "LoiterDirection", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_fw_soaring_data_t, LoiterDirection) }, \
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{ "DistToSoarPoint", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_fw_soaring_data_t, DistToSoarPoint) }, \
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{ "vSinkExp", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fw_soaring_data_t, vSinkExp) }, \
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{ "z1_LocalUpdraftSpeed", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_fw_soaring_data_t, z1_LocalUpdraftSpeed) }, \
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{ "z2_DeltaRoll", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_fw_soaring_data_t, z2_DeltaRoll) }, \
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{ "z1_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_fw_soaring_data_t, z1_exp) }, \
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{ "z2_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_fw_soaring_data_t, z2_exp) }, \
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{ "ThermalGSNorth", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_fw_soaring_data_t, ThermalGSNorth) }, \
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{ "ThermalGSEast", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_fw_soaring_data_t, ThermalGSEast) }, \
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{ "TSE_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_fw_soaring_data_t, TSE_dot) }, \
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{ "DebugVar1", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_fw_soaring_data_t, DebugVar1) }, \
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{ "DebugVar2", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_fw_soaring_data_t, DebugVar2) }, \
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{ "ControlMode", NULL, MAVLINK_TYPE_UINT8_T, 0, 100, offsetof(mavlink_fw_soaring_data_t, ControlMode) }, \
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{ "valid", NULL, MAVLINK_TYPE_UINT8_T, 0, 101, offsetof(mavlink_fw_soaring_data_t, valid) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_FW_SOARING_DATA { \
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"FW_SOARING_DATA", \
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25, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_fw_soaring_data_t, timestamp) }, \
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{ "timestampModeChanged", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_fw_soaring_data_t, timestampModeChanged) }, \
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{ "xW", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fw_soaring_data_t, xW) }, \
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{ "xR", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fw_soaring_data_t, xR) }, \
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{ "xLat", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fw_soaring_data_t, xLat) }, \
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{ "xLon", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fw_soaring_data_t, xLon) }, \
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{ "VarW", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fw_soaring_data_t, VarW) }, \
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{ "VarR", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fw_soaring_data_t, VarR) }, \
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{ "VarLat", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fw_soaring_data_t, VarLat) }, \
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{ "VarLon", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fw_soaring_data_t, VarLon) }, \
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{ "LoiterRadius", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fw_soaring_data_t, LoiterRadius) }, \
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{ "LoiterDirection", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_fw_soaring_data_t, LoiterDirection) }, \
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{ "DistToSoarPoint", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_fw_soaring_data_t, DistToSoarPoint) }, \
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{ "vSinkExp", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fw_soaring_data_t, vSinkExp) }, \
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{ "z1_LocalUpdraftSpeed", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_fw_soaring_data_t, z1_LocalUpdraftSpeed) }, \
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{ "z2_DeltaRoll", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_fw_soaring_data_t, z2_DeltaRoll) }, \
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{ "z1_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_fw_soaring_data_t, z1_exp) }, \
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{ "z2_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_fw_soaring_data_t, z2_exp) }, \
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{ "ThermalGSNorth", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_fw_soaring_data_t, ThermalGSNorth) }, \
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{ "ThermalGSEast", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_fw_soaring_data_t, ThermalGSEast) }, \
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{ "TSE_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_fw_soaring_data_t, TSE_dot) }, \
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{ "DebugVar1", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_fw_soaring_data_t, DebugVar1) }, \
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{ "DebugVar2", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_fw_soaring_data_t, DebugVar2) }, \
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{ "ControlMode", NULL, MAVLINK_TYPE_UINT8_T, 0, 100, offsetof(mavlink_fw_soaring_data_t, ControlMode) }, \
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{ "valid", NULL, MAVLINK_TYPE_UINT8_T, 0, 101, offsetof(mavlink_fw_soaring_data_t, valid) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a fw_soaring_data message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param timestamp [ms] Timestamp
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* @param timestampModeChanged [ms] Timestamp since last mode change
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* @param xW [m/s] Thermal core updraft strength
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* @param xR [m] Thermal radius
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* @param xLat [deg] Thermal center latitude
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* @param xLon [deg] Thermal center longitude
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* @param VarW Variance W
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* @param VarR Variance R
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* @param VarLat Variance Lat
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* @param VarLon Variance Lon
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* @param LoiterRadius [m] Suggested loiter radius
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* @param LoiterDirection Suggested loiter direction
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* @param DistToSoarPoint [m] Distance to soar point
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* @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle
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* @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position
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* @param z2_DeltaRoll [deg] Measurement / roll angle tracking error
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* @param z1_exp Expected measurement 1
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* @param z2_exp Expected measurement 2
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* @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only)
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* @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only)
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* @param TSE_dot [m/s] Total specific energy change (filtered)
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* @param DebugVar1 Debug variable 1
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* @param DebugVar2 Debug variable 2
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* @param ControlMode Control Mode [-]
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* @param valid Data valid [-]
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_fw_soaring_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint64_t(buf, 8, timestampModeChanged);
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_mav_put_float(buf, 16, xW);
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_mav_put_float(buf, 20, xR);
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_mav_put_float(buf, 24, xLat);
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_mav_put_float(buf, 28, xLon);
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_mav_put_float(buf, 32, VarW);
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_mav_put_float(buf, 36, VarR);
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_mav_put_float(buf, 40, VarLat);
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_mav_put_float(buf, 44, VarLon);
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_mav_put_float(buf, 48, LoiterRadius);
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_mav_put_float(buf, 52, LoiterDirection);
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_mav_put_float(buf, 56, DistToSoarPoint);
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_mav_put_float(buf, 60, vSinkExp);
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_mav_put_float(buf, 64, z1_LocalUpdraftSpeed);
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_mav_put_float(buf, 68, z2_DeltaRoll);
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_mav_put_float(buf, 72, z1_exp);
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_mav_put_float(buf, 76, z2_exp);
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_mav_put_float(buf, 80, ThermalGSNorth);
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_mav_put_float(buf, 84, ThermalGSEast);
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_mav_put_float(buf, 88, TSE_dot);
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_mav_put_float(buf, 92, DebugVar1);
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_mav_put_float(buf, 96, DebugVar2);
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_mav_put_uint8_t(buf, 100, ControlMode);
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_mav_put_uint8_t(buf, 101, valid);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN);
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#else
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mavlink_fw_soaring_data_t packet;
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packet.timestamp = timestamp;
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packet.timestampModeChanged = timestampModeChanged;
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packet.xW = xW;
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packet.xR = xR;
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packet.xLat = xLat;
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packet.xLon = xLon;
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packet.VarW = VarW;
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packet.VarR = VarR;
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packet.VarLat = VarLat;
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packet.VarLon = VarLon;
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packet.LoiterRadius = LoiterRadius;
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packet.LoiterDirection = LoiterDirection;
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packet.DistToSoarPoint = DistToSoarPoint;
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packet.vSinkExp = vSinkExp;
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packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed;
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packet.z2_DeltaRoll = z2_DeltaRoll;
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packet.z1_exp = z1_exp;
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packet.z2_exp = z2_exp;
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packet.ThermalGSNorth = ThermalGSNorth;
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packet.ThermalGSEast = ThermalGSEast;
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packet.TSE_dot = TSE_dot;
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packet.DebugVar1 = DebugVar1;
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packet.DebugVar2 = DebugVar2;
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packet.ControlMode = ControlMode;
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packet.valid = valid;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_FW_SOARING_DATA;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
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}
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/**
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* @brief Pack a fw_soaring_data message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param timestamp [ms] Timestamp
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* @param timestampModeChanged [ms] Timestamp since last mode change
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* @param xW [m/s] Thermal core updraft strength
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* @param xR [m] Thermal radius
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* @param xLat [deg] Thermal center latitude
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* @param xLon [deg] Thermal center longitude
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* @param VarW Variance W
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* @param VarR Variance R
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* @param VarLat Variance Lat
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* @param VarLon Variance Lon
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* @param LoiterRadius [m] Suggested loiter radius
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* @param LoiterDirection Suggested loiter direction
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* @param DistToSoarPoint [m] Distance to soar point
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* @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle
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* @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position
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* @param z2_DeltaRoll [deg] Measurement / roll angle tracking error
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* @param z1_exp Expected measurement 1
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* @param z2_exp Expected measurement 2
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* @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only)
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* @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only)
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* @param TSE_dot [m/s] Total specific energy change (filtered)
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* @param DebugVar1 Debug variable 1
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* @param DebugVar2 Debug variable 2
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* @param ControlMode Control Mode [-]
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* @param valid Data valid [-]
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_fw_soaring_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t timestamp,uint64_t timestampModeChanged,float xW,float xR,float xLat,float xLon,float VarW,float VarR,float VarLat,float VarLon,float LoiterRadius,float LoiterDirection,float DistToSoarPoint,float vSinkExp,float z1_LocalUpdraftSpeed,float z2_DeltaRoll,float z1_exp,float z2_exp,float ThermalGSNorth,float ThermalGSEast,float TSE_dot,float DebugVar1,float DebugVar2,uint8_t ControlMode,uint8_t valid)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint64_t(buf, 8, timestampModeChanged);
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_mav_put_float(buf, 16, xW);
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_mav_put_float(buf, 20, xR);
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_mav_put_float(buf, 24, xLat);
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_mav_put_float(buf, 28, xLon);
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_mav_put_float(buf, 32, VarW);
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_mav_put_float(buf, 36, VarR);
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_mav_put_float(buf, 40, VarLat);
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_mav_put_float(buf, 44, VarLon);
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_mav_put_float(buf, 48, LoiterRadius);
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_mav_put_float(buf, 52, LoiterDirection);
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_mav_put_float(buf, 56, DistToSoarPoint);
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_mav_put_float(buf, 60, vSinkExp);
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_mav_put_float(buf, 64, z1_LocalUpdraftSpeed);
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_mav_put_float(buf, 68, z2_DeltaRoll);
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_mav_put_float(buf, 72, z1_exp);
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_mav_put_float(buf, 76, z2_exp);
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_mav_put_float(buf, 80, ThermalGSNorth);
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_mav_put_float(buf, 84, ThermalGSEast);
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_mav_put_float(buf, 88, TSE_dot);
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_mav_put_float(buf, 92, DebugVar1);
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_mav_put_float(buf, 96, DebugVar2);
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_mav_put_uint8_t(buf, 100, ControlMode);
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_mav_put_uint8_t(buf, 101, valid);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN);
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#else
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mavlink_fw_soaring_data_t packet;
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packet.timestamp = timestamp;
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packet.timestampModeChanged = timestampModeChanged;
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packet.xW = xW;
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packet.xR = xR;
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packet.xLat = xLat;
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packet.xLon = xLon;
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packet.VarW = VarW;
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packet.VarR = VarR;
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packet.VarLat = VarLat;
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packet.VarLon = VarLon;
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packet.LoiterRadius = LoiterRadius;
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packet.LoiterDirection = LoiterDirection;
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packet.DistToSoarPoint = DistToSoarPoint;
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packet.vSinkExp = vSinkExp;
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packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed;
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packet.z2_DeltaRoll = z2_DeltaRoll;
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packet.z1_exp = z1_exp;
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packet.z2_exp = z2_exp;
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packet.ThermalGSNorth = ThermalGSNorth;
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packet.ThermalGSEast = ThermalGSEast;
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packet.TSE_dot = TSE_dot;
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packet.DebugVar1 = DebugVar1;
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packet.DebugVar2 = DebugVar2;
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packet.ControlMode = ControlMode;
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packet.valid = valid;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_FW_SOARING_DATA;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
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}
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/**
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* @brief Encode a fw_soaring_data struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param fw_soaring_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_fw_soaring_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fw_soaring_data_t* fw_soaring_data)
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{
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return mavlink_msg_fw_soaring_data_pack(system_id, component_id, msg, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid);
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}
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/**
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* @brief Encode a fw_soaring_data struct on a channel
|
*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param fw_soaring_data C-struct to read the message contents from
|
*/
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static inline uint16_t mavlink_msg_fw_soaring_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fw_soaring_data_t* fw_soaring_data)
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{
|
return mavlink_msg_fw_soaring_data_pack_chan(system_id, component_id, chan, msg, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid);
|
}
|
|
/**
|
* @brief Send a fw_soaring_data message
|
* @param chan MAVLink channel to send the message
|
*
|
* @param timestamp [ms] Timestamp
|
* @param timestampModeChanged [ms] Timestamp since last mode change
|
* @param xW [m/s] Thermal core updraft strength
|
* @param xR [m] Thermal radius
|
* @param xLat [deg] Thermal center latitude
|
* @param xLon [deg] Thermal center longitude
|
* @param VarW Variance W
|
* @param VarR Variance R
|
* @param VarLat Variance Lat
|
* @param VarLon Variance Lon
|
* @param LoiterRadius [m] Suggested loiter radius
|
* @param LoiterDirection Suggested loiter direction
|
* @param DistToSoarPoint [m] Distance to soar point
|
* @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle
|
* @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position
|
* @param z2_DeltaRoll [deg] Measurement / roll angle tracking error
|
* @param z1_exp Expected measurement 1
|
* @param z2_exp Expected measurement 2
|
* @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only)
|
* @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only)
|
* @param TSE_dot [m/s] Total specific energy change (filtered)
|
* @param DebugVar1 Debug variable 1
|
* @param DebugVar2 Debug variable 2
|
* @param ControlMode Control Mode [-]
|
* @param valid Data valid [-]
|
*/
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
static inline void mavlink_msg_fw_soaring_data_send(mavlink_channel_t chan, uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN];
|
_mav_put_uint64_t(buf, 0, timestamp);
|
_mav_put_uint64_t(buf, 8, timestampModeChanged);
|
_mav_put_float(buf, 16, xW);
|
_mav_put_float(buf, 20, xR);
|
_mav_put_float(buf, 24, xLat);
|
_mav_put_float(buf, 28, xLon);
|
_mav_put_float(buf, 32, VarW);
|
_mav_put_float(buf, 36, VarR);
|
_mav_put_float(buf, 40, VarLat);
|
_mav_put_float(buf, 44, VarLon);
|
_mav_put_float(buf, 48, LoiterRadius);
|
_mav_put_float(buf, 52, LoiterDirection);
|
_mav_put_float(buf, 56, DistToSoarPoint);
|
_mav_put_float(buf, 60, vSinkExp);
|
_mav_put_float(buf, 64, z1_LocalUpdraftSpeed);
|
_mav_put_float(buf, 68, z2_DeltaRoll);
|
_mav_put_float(buf, 72, z1_exp);
|
_mav_put_float(buf, 76, z2_exp);
|
_mav_put_float(buf, 80, ThermalGSNorth);
|
_mav_put_float(buf, 84, ThermalGSEast);
|
_mav_put_float(buf, 88, TSE_dot);
|
_mav_put_float(buf, 92, DebugVar1);
|
_mav_put_float(buf, 96, DebugVar2);
|
_mav_put_uint8_t(buf, 100, ControlMode);
|
_mav_put_uint8_t(buf, 101, valid);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, buf, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
|
#else
|
mavlink_fw_soaring_data_t packet;
|
packet.timestamp = timestamp;
|
packet.timestampModeChanged = timestampModeChanged;
|
packet.xW = xW;
|
packet.xR = xR;
|
packet.xLat = xLat;
|
packet.xLon = xLon;
|
packet.VarW = VarW;
|
packet.VarR = VarR;
|
packet.VarLat = VarLat;
|
packet.VarLon = VarLon;
|
packet.LoiterRadius = LoiterRadius;
|
packet.LoiterDirection = LoiterDirection;
|
packet.DistToSoarPoint = DistToSoarPoint;
|
packet.vSinkExp = vSinkExp;
|
packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed;
|
packet.z2_DeltaRoll = z2_DeltaRoll;
|
packet.z1_exp = z1_exp;
|
packet.z2_exp = z2_exp;
|
packet.ThermalGSNorth = ThermalGSNorth;
|
packet.ThermalGSEast = ThermalGSEast;
|
packet.TSE_dot = TSE_dot;
|
packet.DebugVar1 = DebugVar1;
|
packet.DebugVar2 = DebugVar2;
|
packet.ControlMode = ControlMode;
|
packet.valid = valid;
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)&packet, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
|
#endif
|
}
|
|
/**
|
* @brief Send a fw_soaring_data message
|
* @param chan MAVLink channel to send the message
|
* @param struct The MAVLink struct to serialize
|
*/
|
static inline void mavlink_msg_fw_soaring_data_send_struct(mavlink_channel_t chan, const mavlink_fw_soaring_data_t* fw_soaring_data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
mavlink_msg_fw_soaring_data_send(chan, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid);
|
#else
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)fw_soaring_data, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
|
#endif
|
}
|
|
#if MAVLINK_MSG_ID_FW_SOARING_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
/*
|
This variant 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_fw_soaring_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char *buf = (char *)msgbuf;
|
_mav_put_uint64_t(buf, 0, timestamp);
|
_mav_put_uint64_t(buf, 8, timestampModeChanged);
|
_mav_put_float(buf, 16, xW);
|
_mav_put_float(buf, 20, xR);
|
_mav_put_float(buf, 24, xLat);
|
_mav_put_float(buf, 28, xLon);
|
_mav_put_float(buf, 32, VarW);
|
_mav_put_float(buf, 36, VarR);
|
_mav_put_float(buf, 40, VarLat);
|
_mav_put_float(buf, 44, VarLon);
|
_mav_put_float(buf, 48, LoiterRadius);
|
_mav_put_float(buf, 52, LoiterDirection);
|
_mav_put_float(buf, 56, DistToSoarPoint);
|
_mav_put_float(buf, 60, vSinkExp);
|
_mav_put_float(buf, 64, z1_LocalUpdraftSpeed);
|
_mav_put_float(buf, 68, z2_DeltaRoll);
|
_mav_put_float(buf, 72, z1_exp);
|
_mav_put_float(buf, 76, z2_exp);
|
_mav_put_float(buf, 80, ThermalGSNorth);
|
_mav_put_float(buf, 84, ThermalGSEast);
|
_mav_put_float(buf, 88, TSE_dot);
|
_mav_put_float(buf, 92, DebugVar1);
|
_mav_put_float(buf, 96, DebugVar2);
|
_mav_put_uint8_t(buf, 100, ControlMode);
|
_mav_put_uint8_t(buf, 101, valid);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, buf, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
|
#else
|
mavlink_fw_soaring_data_t *packet = (mavlink_fw_soaring_data_t *)msgbuf;
|
packet->timestamp = timestamp;
|
packet->timestampModeChanged = timestampModeChanged;
|
packet->xW = xW;
|
packet->xR = xR;
|
packet->xLat = xLat;
|
packet->xLon = xLon;
|
packet->VarW = VarW;
|
packet->VarR = VarR;
|
packet->VarLat = VarLat;
|
packet->VarLon = VarLon;
|
packet->LoiterRadius = LoiterRadius;
|
packet->LoiterDirection = LoiterDirection;
|
packet->DistToSoarPoint = DistToSoarPoint;
|
packet->vSinkExp = vSinkExp;
|
packet->z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed;
|
packet->z2_DeltaRoll = z2_DeltaRoll;
|
packet->z1_exp = z1_exp;
|
packet->z2_exp = z2_exp;
|
packet->ThermalGSNorth = ThermalGSNorth;
|
packet->ThermalGSEast = ThermalGSEast;
|
packet->TSE_dot = TSE_dot;
|
packet->DebugVar1 = DebugVar1;
|
packet->DebugVar2 = DebugVar2;
|
packet->ControlMode = ControlMode;
|
packet->valid = valid;
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)packet, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC);
|
#endif
|
}
|
#endif
|
|
#endif
|
|
// MESSAGE FW_SOARING_DATA UNPACKING
|
|
|
/**
|
* @brief Get field timestamp from fw_soaring_data message
|
*
|
* @return [ms] Timestamp
|
*/
|
static inline uint64_t mavlink_msg_fw_soaring_data_get_timestamp(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint64_t(msg, 0);
|
}
|
|
/**
|
* @brief Get field timestampModeChanged from fw_soaring_data message
|
*
|
* @return [ms] Timestamp since last mode change
|
*/
|
static inline uint64_t mavlink_msg_fw_soaring_data_get_timestampModeChanged(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint64_t(msg, 8);
|
}
|
|
/**
|
* @brief Get field xW from fw_soaring_data message
|
*
|
* @return [m/s] Thermal core updraft strength
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_xW(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 16);
|
}
|
|
/**
|
* @brief Get field xR from fw_soaring_data message
|
*
|
* @return [m] Thermal radius
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_xR(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 20);
|
}
|
|
/**
|
* @brief Get field xLat from fw_soaring_data message
|
*
|
* @return [deg] Thermal center latitude
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_xLat(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 24);
|
}
|
|
/**
|
* @brief Get field xLon from fw_soaring_data message
|
*
|
* @return [deg] Thermal center longitude
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_xLon(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 28);
|
}
|
|
/**
|
* @brief Get field VarW from fw_soaring_data message
|
*
|
* @return Variance W
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_VarW(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 32);
|
}
|
|
/**
|
* @brief Get field VarR from fw_soaring_data message
|
*
|
* @return Variance R
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_VarR(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 36);
|
}
|
|
/**
|
* @brief Get field VarLat from fw_soaring_data message
|
*
|
* @return Variance Lat
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_VarLat(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 40);
|
}
|
|
/**
|
* @brief Get field VarLon from fw_soaring_data message
|
*
|
* @return Variance Lon
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_VarLon(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 44);
|
}
|
|
/**
|
* @brief Get field LoiterRadius from fw_soaring_data message
|
*
|
* @return [m] Suggested loiter radius
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_LoiterRadius(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 48);
|
}
|
|
/**
|
* @brief Get field LoiterDirection from fw_soaring_data message
|
*
|
* @return Suggested loiter direction
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_LoiterDirection(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 52);
|
}
|
|
/**
|
* @brief Get field DistToSoarPoint from fw_soaring_data message
|
*
|
* @return [m] Distance to soar point
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_DistToSoarPoint(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 56);
|
}
|
|
/**
|
* @brief Get field vSinkExp from fw_soaring_data message
|
*
|
* @return [m/s] Expected sink rate at current airspeed, roll and throttle
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_vSinkExp(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 60);
|
}
|
|
/**
|
* @brief Get field z1_LocalUpdraftSpeed from fw_soaring_data message
|
*
|
* @return [m/s] Measurement / updraft speed at current/local airplane position
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_z1_LocalUpdraftSpeed(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 64);
|
}
|
|
/**
|
* @brief Get field z2_DeltaRoll from fw_soaring_data message
|
*
|
* @return [deg] Measurement / roll angle tracking error
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_z2_DeltaRoll(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 68);
|
}
|
|
/**
|
* @brief Get field z1_exp from fw_soaring_data message
|
*
|
* @return Expected measurement 1
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_z1_exp(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 72);
|
}
|
|
/**
|
* @brief Get field z2_exp from fw_soaring_data message
|
*
|
* @return Expected measurement 2
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_z2_exp(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 76);
|
}
|
|
/**
|
* @brief Get field ThermalGSNorth from fw_soaring_data message
|
*
|
* @return [m/s] Thermal drift (from estimator prediction step only)
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_ThermalGSNorth(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 80);
|
}
|
|
/**
|
* @brief Get field ThermalGSEast from fw_soaring_data message
|
*
|
* @return [m/s] Thermal drift (from estimator prediction step only)
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_ThermalGSEast(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 84);
|
}
|
|
/**
|
* @brief Get field TSE_dot from fw_soaring_data message
|
*
|
* @return [m/s] Total specific energy change (filtered)
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_TSE_dot(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 88);
|
}
|
|
/**
|
* @brief Get field DebugVar1 from fw_soaring_data message
|
*
|
* @return Debug variable 1
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_DebugVar1(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 92);
|
}
|
|
/**
|
* @brief Get field DebugVar2 from fw_soaring_data message
|
*
|
* @return Debug variable 2
|
*/
|
static inline float mavlink_msg_fw_soaring_data_get_DebugVar2(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_float(msg, 96);
|
}
|
|
/**
|
* @brief Get field ControlMode from fw_soaring_data message
|
*
|
* @return Control Mode [-]
|
*/
|
static inline uint8_t mavlink_msg_fw_soaring_data_get_ControlMode(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 100);
|
}
|
|
/**
|
* @brief Get field valid from fw_soaring_data message
|
*
|
* @return Data valid [-]
|
*/
|
static inline uint8_t mavlink_msg_fw_soaring_data_get_valid(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 101);
|
}
|
|
/**
|
* @brief Decode a fw_soaring_data message into a struct
|
*
|
* @param msg The message to decode
|
* @param fw_soaring_data C-struct to decode the message contents into
|
*/
|
static inline void mavlink_msg_fw_soaring_data_decode(const mavlink_message_t* msg, mavlink_fw_soaring_data_t* fw_soaring_data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
fw_soaring_data->timestamp = mavlink_msg_fw_soaring_data_get_timestamp(msg);
|
fw_soaring_data->timestampModeChanged = mavlink_msg_fw_soaring_data_get_timestampModeChanged(msg);
|
fw_soaring_data->xW = mavlink_msg_fw_soaring_data_get_xW(msg);
|
fw_soaring_data->xR = mavlink_msg_fw_soaring_data_get_xR(msg);
|
fw_soaring_data->xLat = mavlink_msg_fw_soaring_data_get_xLat(msg);
|
fw_soaring_data->xLon = mavlink_msg_fw_soaring_data_get_xLon(msg);
|
fw_soaring_data->VarW = mavlink_msg_fw_soaring_data_get_VarW(msg);
|
fw_soaring_data->VarR = mavlink_msg_fw_soaring_data_get_VarR(msg);
|
fw_soaring_data->VarLat = mavlink_msg_fw_soaring_data_get_VarLat(msg);
|
fw_soaring_data->VarLon = mavlink_msg_fw_soaring_data_get_VarLon(msg);
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fw_soaring_data->LoiterRadius = mavlink_msg_fw_soaring_data_get_LoiterRadius(msg);
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fw_soaring_data->LoiterDirection = mavlink_msg_fw_soaring_data_get_LoiterDirection(msg);
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fw_soaring_data->DistToSoarPoint = mavlink_msg_fw_soaring_data_get_DistToSoarPoint(msg);
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fw_soaring_data->vSinkExp = mavlink_msg_fw_soaring_data_get_vSinkExp(msg);
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fw_soaring_data->z1_LocalUpdraftSpeed = mavlink_msg_fw_soaring_data_get_z1_LocalUpdraftSpeed(msg);
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fw_soaring_data->z2_DeltaRoll = mavlink_msg_fw_soaring_data_get_z2_DeltaRoll(msg);
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fw_soaring_data->z1_exp = mavlink_msg_fw_soaring_data_get_z1_exp(msg);
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fw_soaring_data->z2_exp = mavlink_msg_fw_soaring_data_get_z2_exp(msg);
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fw_soaring_data->ThermalGSNorth = mavlink_msg_fw_soaring_data_get_ThermalGSNorth(msg);
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fw_soaring_data->ThermalGSEast = mavlink_msg_fw_soaring_data_get_ThermalGSEast(msg);
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fw_soaring_data->TSE_dot = mavlink_msg_fw_soaring_data_get_TSE_dot(msg);
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fw_soaring_data->DebugVar1 = mavlink_msg_fw_soaring_data_get_DebugVar1(msg);
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fw_soaring_data->DebugVar2 = mavlink_msg_fw_soaring_data_get_DebugVar2(msg);
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fw_soaring_data->ControlMode = mavlink_msg_fw_soaring_data_get_ControlMode(msg);
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fw_soaring_data->valid = mavlink_msg_fw_soaring_data_get_valid(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_FW_SOARING_DATA_LEN? msg->len : MAVLINK_MSG_ID_FW_SOARING_DATA_LEN;
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memset(fw_soaring_data, 0, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN);
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memcpy(fw_soaring_data, _MAV_PAYLOAD(msg), len);
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#endif
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}
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