#pragma once
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// MESSAGE AUTOPILOT_STATE_FOR_GIMBAL_DEVICE PACKING
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#define MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE 286
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typedef struct __mavlink_autopilot_state_for_gimbal_device_t {
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uint64_t time_boot_us; /*< [us] Timestamp (time since system boot).*/
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float q[4]; /*< Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).*/
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uint32_t q_estimated_delay_us; /*< [us] Estimated delay of the attitude data.*/
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float vx; /*< [m/s] X Speed in NED (North, East, Down).*/
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float vy; /*< [m/s] Y Speed in NED (North, East, Down).*/
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float vz; /*< [m/s] Z Speed in NED (North, East, Down).*/
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uint32_t v_estimated_delay_us; /*< [us] Estimated delay of the speed data.*/
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float feed_forward_angular_velocity_z; /*< [rad/s] Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.*/
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uint16_t estimator_status; /*< Bitmap indicating which estimator outputs are valid.*/
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uint8_t target_system; /*< System ID*/
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uint8_t target_component; /*< Component ID*/
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uint8_t landed_state; /*< The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.*/
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} mavlink_autopilot_state_for_gimbal_device_t;
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#define MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN 53
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#define MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN 53
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#define MAVLINK_MSG_ID_286_LEN 53
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#define MAVLINK_MSG_ID_286_MIN_LEN 53
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#define MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC 210
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#define MAVLINK_MSG_ID_286_CRC 210
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#define MAVLINK_MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE { \
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286, \
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"AUTOPILOT_STATE_FOR_GIMBAL_DEVICE", \
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12, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_autopilot_state_for_gimbal_device_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_autopilot_state_for_gimbal_device_t, target_component) }, \
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{ "time_boot_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_autopilot_state_for_gimbal_device_t, time_boot_us) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_autopilot_state_for_gimbal_device_t, q) }, \
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{ "q_estimated_delay_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_autopilot_state_for_gimbal_device_t, q_estimated_delay_us) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vz) }, \
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{ "v_estimated_delay_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 40, offsetof(mavlink_autopilot_state_for_gimbal_device_t, v_estimated_delay_us) }, \
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{ "feed_forward_angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_autopilot_state_for_gimbal_device_t, feed_forward_angular_velocity_z) }, \
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{ "estimator_status", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_autopilot_state_for_gimbal_device_t, estimator_status) }, \
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{ "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_autopilot_state_for_gimbal_device_t, landed_state) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE { \
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"AUTOPILOT_STATE_FOR_GIMBAL_DEVICE", \
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12, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_autopilot_state_for_gimbal_device_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 51, offsetof(mavlink_autopilot_state_for_gimbal_device_t, target_component) }, \
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{ "time_boot_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_autopilot_state_for_gimbal_device_t, time_boot_us) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_autopilot_state_for_gimbal_device_t, q) }, \
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{ "q_estimated_delay_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_autopilot_state_for_gimbal_device_t, q_estimated_delay_us) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_autopilot_state_for_gimbal_device_t, vz) }, \
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{ "v_estimated_delay_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 40, offsetof(mavlink_autopilot_state_for_gimbal_device_t, v_estimated_delay_us) }, \
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{ "feed_forward_angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_autopilot_state_for_gimbal_device_t, feed_forward_angular_velocity_z) }, \
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{ "estimator_status", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_autopilot_state_for_gimbal_device_t, estimator_status) }, \
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{ "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_autopilot_state_for_gimbal_device_t, landed_state) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a autopilot_state_for_gimbal_device 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 target_system System ID
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* @param target_component Component ID
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* @param time_boot_us [us] Timestamp (time since system boot).
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* @param q Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
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* @param q_estimated_delay_us [us] Estimated delay of the attitude data.
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* @param vx [m/s] X Speed in NED (North, East, Down).
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* @param vy [m/s] Y Speed in NED (North, East, Down).
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* @param vz [m/s] Z Speed in NED (North, East, Down).
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* @param v_estimated_delay_us [us] Estimated delay of the speed data.
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* @param feed_forward_angular_velocity_z [rad/s] Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.
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* @param estimator_status Bitmap indicating which estimator outputs are valid.
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* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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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_autopilot_state_for_gimbal_device_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint64_t time_boot_us, const float *q, uint32_t q_estimated_delay_us, float vx, float vy, float vz, uint32_t v_estimated_delay_us, float feed_forward_angular_velocity_z, uint16_t estimator_status, uint8_t landed_state)
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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_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN];
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_mav_put_uint64_t(buf, 0, time_boot_us);
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_mav_put_uint32_t(buf, 24, q_estimated_delay_us);
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_mav_put_float(buf, 28, vx);
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_mav_put_float(buf, 32, vy);
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_mav_put_float(buf, 36, vz);
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_mav_put_uint32_t(buf, 40, v_estimated_delay_us);
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_mav_put_float(buf, 44, feed_forward_angular_velocity_z);
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_mav_put_uint16_t(buf, 48, estimator_status);
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_mav_put_uint8_t(buf, 50, target_system);
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_mav_put_uint8_t(buf, 51, target_component);
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_mav_put_uint8_t(buf, 52, landed_state);
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_mav_put_float_array(buf, 8, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN);
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#else
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mavlink_autopilot_state_for_gimbal_device_t packet;
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packet.time_boot_us = time_boot_us;
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packet.q_estimated_delay_us = q_estimated_delay_us;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.v_estimated_delay_us = v_estimated_delay_us;
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packet.feed_forward_angular_velocity_z = feed_forward_angular_velocity_z;
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packet.estimator_status = estimator_status;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.landed_state = landed_state;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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}
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/**
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* @brief Pack a autopilot_state_for_gimbal_device 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 target_system System ID
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* @param target_component Component ID
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* @param time_boot_us [us] Timestamp (time since system boot).
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* @param q Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
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* @param q_estimated_delay_us [us] Estimated delay of the attitude data.
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* @param vx [m/s] X Speed in NED (North, East, Down).
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* @param vy [m/s] Y Speed in NED (North, East, Down).
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* @param vz [m/s] Z Speed in NED (North, East, Down).
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* @param v_estimated_delay_us [us] Estimated delay of the speed data.
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* @param feed_forward_angular_velocity_z [rad/s] Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.
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* @param estimator_status Bitmap indicating which estimator outputs are valid.
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* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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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_autopilot_state_for_gimbal_device_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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uint8_t target_system,uint8_t target_component,uint64_t time_boot_us,const float *q,uint32_t q_estimated_delay_us,float vx,float vy,float vz,uint32_t v_estimated_delay_us,float feed_forward_angular_velocity_z,uint16_t estimator_status,uint8_t landed_state)
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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_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN];
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_mav_put_uint64_t(buf, 0, time_boot_us);
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_mav_put_uint32_t(buf, 24, q_estimated_delay_us);
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_mav_put_float(buf, 28, vx);
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_mav_put_float(buf, 32, vy);
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_mav_put_float(buf, 36, vz);
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_mav_put_uint32_t(buf, 40, v_estimated_delay_us);
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_mav_put_float(buf, 44, feed_forward_angular_velocity_z);
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_mav_put_uint16_t(buf, 48, estimator_status);
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_mav_put_uint8_t(buf, 50, target_system);
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_mav_put_uint8_t(buf, 51, target_component);
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_mav_put_uint8_t(buf, 52, landed_state);
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_mav_put_float_array(buf, 8, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN);
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#else
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mavlink_autopilot_state_for_gimbal_device_t packet;
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packet.time_boot_us = time_boot_us;
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packet.q_estimated_delay_us = q_estimated_delay_us;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.v_estimated_delay_us = v_estimated_delay_us;
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packet.feed_forward_angular_velocity_z = feed_forward_angular_velocity_z;
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packet.estimator_status = estimator_status;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.landed_state = landed_state;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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}
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/**
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* @brief Encode a autopilot_state_for_gimbal_device 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 autopilot_state_for_gimbal_device C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_autopilot_state_for_gimbal_device_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_autopilot_state_for_gimbal_device_t* autopilot_state_for_gimbal_device)
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{
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return mavlink_msg_autopilot_state_for_gimbal_device_pack(system_id, component_id, msg, autopilot_state_for_gimbal_device->target_system, autopilot_state_for_gimbal_device->target_component, autopilot_state_for_gimbal_device->time_boot_us, autopilot_state_for_gimbal_device->q, autopilot_state_for_gimbal_device->q_estimated_delay_us, autopilot_state_for_gimbal_device->vx, autopilot_state_for_gimbal_device->vy, autopilot_state_for_gimbal_device->vz, autopilot_state_for_gimbal_device->v_estimated_delay_us, autopilot_state_for_gimbal_device->feed_forward_angular_velocity_z, autopilot_state_for_gimbal_device->estimator_status, autopilot_state_for_gimbal_device->landed_state);
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}
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/**
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* @brief Encode a autopilot_state_for_gimbal_device struct on a channel
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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 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 autopilot_state_for_gimbal_device C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_autopilot_state_for_gimbal_device_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_autopilot_state_for_gimbal_device_t* autopilot_state_for_gimbal_device)
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{
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return mavlink_msg_autopilot_state_for_gimbal_device_pack_chan(system_id, component_id, chan, msg, autopilot_state_for_gimbal_device->target_system, autopilot_state_for_gimbal_device->target_component, autopilot_state_for_gimbal_device->time_boot_us, autopilot_state_for_gimbal_device->q, autopilot_state_for_gimbal_device->q_estimated_delay_us, autopilot_state_for_gimbal_device->vx, autopilot_state_for_gimbal_device->vy, autopilot_state_for_gimbal_device->vz, autopilot_state_for_gimbal_device->v_estimated_delay_us, autopilot_state_for_gimbal_device->feed_forward_angular_velocity_z, autopilot_state_for_gimbal_device->estimator_status, autopilot_state_for_gimbal_device->landed_state);
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}
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/**
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* @brief Send a autopilot_state_for_gimbal_device message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param time_boot_us [us] Timestamp (time since system boot).
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* @param q Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
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* @param q_estimated_delay_us [us] Estimated delay of the attitude data.
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* @param vx [m/s] X Speed in NED (North, East, Down).
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* @param vy [m/s] Y Speed in NED (North, East, Down).
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* @param vz [m/s] Z Speed in NED (North, East, Down).
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* @param v_estimated_delay_us [us] Estimated delay of the speed data.
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* @param feed_forward_angular_velocity_z [rad/s] Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.
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* @param estimator_status Bitmap indicating which estimator outputs are valid.
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* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_autopilot_state_for_gimbal_device_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint64_t time_boot_us, const float *q, uint32_t q_estimated_delay_us, float vx, float vy, float vz, uint32_t v_estimated_delay_us, float feed_forward_angular_velocity_z, uint16_t estimator_status, uint8_t landed_state)
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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_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN];
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_mav_put_uint64_t(buf, 0, time_boot_us);
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_mav_put_uint32_t(buf, 24, q_estimated_delay_us);
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_mav_put_float(buf, 28, vx);
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_mav_put_float(buf, 32, vy);
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_mav_put_float(buf, 36, vz);
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_mav_put_uint32_t(buf, 40, v_estimated_delay_us);
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_mav_put_float(buf, 44, feed_forward_angular_velocity_z);
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_mav_put_uint16_t(buf, 48, estimator_status);
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_mav_put_uint8_t(buf, 50, target_system);
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_mav_put_uint8_t(buf, 51, target_component);
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_mav_put_uint8_t(buf, 52, landed_state);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, buf, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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#else
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mavlink_autopilot_state_for_gimbal_device_t packet;
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packet.time_boot_us = time_boot_us;
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packet.q_estimated_delay_us = q_estimated_delay_us;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.v_estimated_delay_us = v_estimated_delay_us;
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packet.feed_forward_angular_velocity_z = feed_forward_angular_velocity_z;
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packet.estimator_status = estimator_status;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.landed_state = landed_state;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, (const char *)&packet, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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#endif
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}
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/**
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* @brief Send a autopilot_state_for_gimbal_device message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_autopilot_state_for_gimbal_device_send_struct(mavlink_channel_t chan, const mavlink_autopilot_state_for_gimbal_device_t* autopilot_state_for_gimbal_device)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_autopilot_state_for_gimbal_device_send(chan, autopilot_state_for_gimbal_device->target_system, autopilot_state_for_gimbal_device->target_component, autopilot_state_for_gimbal_device->time_boot_us, autopilot_state_for_gimbal_device->q, autopilot_state_for_gimbal_device->q_estimated_delay_us, autopilot_state_for_gimbal_device->vx, autopilot_state_for_gimbal_device->vy, autopilot_state_for_gimbal_device->vz, autopilot_state_for_gimbal_device->v_estimated_delay_us, autopilot_state_for_gimbal_device->feed_forward_angular_velocity_z, autopilot_state_for_gimbal_device->estimator_status, autopilot_state_for_gimbal_device->landed_state);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, (const char *)autopilot_state_for_gimbal_device, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_autopilot_state_for_gimbal_device_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint64_t time_boot_us, const float *q, uint32_t q_estimated_delay_us, float vx, float vy, float vz, uint32_t v_estimated_delay_us, float feed_forward_angular_velocity_z, uint16_t estimator_status, uint8_t landed_state)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_boot_us);
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_mav_put_uint32_t(buf, 24, q_estimated_delay_us);
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_mav_put_float(buf, 28, vx);
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_mav_put_float(buf, 32, vy);
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_mav_put_float(buf, 36, vz);
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_mav_put_uint32_t(buf, 40, v_estimated_delay_us);
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_mav_put_float(buf, 44, feed_forward_angular_velocity_z);
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_mav_put_uint16_t(buf, 48, estimator_status);
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_mav_put_uint8_t(buf, 50, target_system);
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_mav_put_uint8_t(buf, 51, target_component);
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_mav_put_uint8_t(buf, 52, landed_state);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, buf, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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#else
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mavlink_autopilot_state_for_gimbal_device_t *packet = (mavlink_autopilot_state_for_gimbal_device_t *)msgbuf;
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packet->time_boot_us = time_boot_us;
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packet->q_estimated_delay_us = q_estimated_delay_us;
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packet->vx = vx;
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packet->vy = vy;
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packet->vz = vz;
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packet->v_estimated_delay_us = v_estimated_delay_us;
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packet->feed_forward_angular_velocity_z = feed_forward_angular_velocity_z;
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packet->estimator_status = estimator_status;
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packet->target_system = target_system;
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packet->target_component = target_component;
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packet->landed_state = landed_state;
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, (const char *)packet, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_MIN_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE AUTOPILOT_STATE_FOR_GIMBAL_DEVICE UNPACKING
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|
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/**
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* @brief Get field target_system from autopilot_state_for_gimbal_device message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_autopilot_state_for_gimbal_device_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 50);
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}
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/**
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* @brief Get field target_component from autopilot_state_for_gimbal_device message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_autopilot_state_for_gimbal_device_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 51);
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}
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/**
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* @brief Get field time_boot_us from autopilot_state_for_gimbal_device message
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*
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* @return [us] Timestamp (time since system boot).
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*/
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static inline uint64_t mavlink_msg_autopilot_state_for_gimbal_device_get_time_boot_us(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field q from autopilot_state_for_gimbal_device message
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*
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* @return Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
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*/
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static inline uint16_t mavlink_msg_autopilot_state_for_gimbal_device_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 8);
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}
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/**
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* @brief Get field q_estimated_delay_us from autopilot_state_for_gimbal_device message
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*
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* @return [us] Estimated delay of the attitude data.
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*/
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static inline uint32_t mavlink_msg_autopilot_state_for_gimbal_device_get_q_estimated_delay_us(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 24);
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}
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/**
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* @brief Get field vx from autopilot_state_for_gimbal_device message
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*
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* @return [m/s] X Speed in NED (North, East, Down).
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*/
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static inline float mavlink_msg_autopilot_state_for_gimbal_device_get_vx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field vy from autopilot_state_for_gimbal_device message
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*
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* @return [m/s] Y Speed in NED (North, East, Down).
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*/
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static inline float mavlink_msg_autopilot_state_for_gimbal_device_get_vy(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Get field vz from autopilot_state_for_gimbal_device message
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*
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* @return [m/s] Z Speed in NED (North, East, Down).
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*/
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static inline float mavlink_msg_autopilot_state_for_gimbal_device_get_vz(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 36);
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}
|
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/**
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* @brief Get field v_estimated_delay_us from autopilot_state_for_gimbal_device message
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*
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* @return [us] Estimated delay of the speed data.
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*/
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static inline uint32_t mavlink_msg_autopilot_state_for_gimbal_device_get_v_estimated_delay_us(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 40);
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}
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/**
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* @brief Get field feed_forward_angular_velocity_z from autopilot_state_for_gimbal_device message
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*
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* @return [rad/s] Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.
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*/
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static inline float mavlink_msg_autopilot_state_for_gimbal_device_get_feed_forward_angular_velocity_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 44);
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}
|
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/**
|
* @brief Get field estimator_status from autopilot_state_for_gimbal_device message
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*
|
* @return Bitmap indicating which estimator outputs are valid.
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*/
|
static inline uint16_t mavlink_msg_autopilot_state_for_gimbal_device_get_estimator_status(const mavlink_message_t* msg)
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{
|
return _MAV_RETURN_uint16_t(msg, 48);
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}
|
|
/**
|
* @brief Get field landed_state from autopilot_state_for_gimbal_device message
|
*
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* @return The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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*/
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static inline uint8_t mavlink_msg_autopilot_state_for_gimbal_device_get_landed_state(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 52);
|
}
|
|
/**
|
* @brief Decode a autopilot_state_for_gimbal_device message into a struct
|
*
|
* @param msg The message to decode
|
* @param autopilot_state_for_gimbal_device C-struct to decode the message contents into
|
*/
|
static inline void mavlink_msg_autopilot_state_for_gimbal_device_decode(const mavlink_message_t* msg, mavlink_autopilot_state_for_gimbal_device_t* autopilot_state_for_gimbal_device)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
autopilot_state_for_gimbal_device->time_boot_us = mavlink_msg_autopilot_state_for_gimbal_device_get_time_boot_us(msg);
|
mavlink_msg_autopilot_state_for_gimbal_device_get_q(msg, autopilot_state_for_gimbal_device->q);
|
autopilot_state_for_gimbal_device->q_estimated_delay_us = mavlink_msg_autopilot_state_for_gimbal_device_get_q_estimated_delay_us(msg);
|
autopilot_state_for_gimbal_device->vx = mavlink_msg_autopilot_state_for_gimbal_device_get_vx(msg);
|
autopilot_state_for_gimbal_device->vy = mavlink_msg_autopilot_state_for_gimbal_device_get_vy(msg);
|
autopilot_state_for_gimbal_device->vz = mavlink_msg_autopilot_state_for_gimbal_device_get_vz(msg);
|
autopilot_state_for_gimbal_device->v_estimated_delay_us = mavlink_msg_autopilot_state_for_gimbal_device_get_v_estimated_delay_us(msg);
|
autopilot_state_for_gimbal_device->feed_forward_angular_velocity_z = mavlink_msg_autopilot_state_for_gimbal_device_get_feed_forward_angular_velocity_z(msg);
|
autopilot_state_for_gimbal_device->estimator_status = mavlink_msg_autopilot_state_for_gimbal_device_get_estimator_status(msg);
|
autopilot_state_for_gimbal_device->target_system = mavlink_msg_autopilot_state_for_gimbal_device_get_target_system(msg);
|
autopilot_state_for_gimbal_device->target_component = mavlink_msg_autopilot_state_for_gimbal_device_get_target_component(msg);
|
autopilot_state_for_gimbal_device->landed_state = mavlink_msg_autopilot_state_for_gimbal_device_get_landed_state(msg);
|
#else
|
uint8_t len = msg->len < MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN? msg->len : MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN;
|
memset(autopilot_state_for_gimbal_device, 0, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN);
|
memcpy(autopilot_state_for_gimbal_device, _MAV_PAYLOAD(msg), len);
|
#endif
|
}
|
