VK_Mavlink/v2.0/common/mavlink_msg_local_position_ned_cov.h

#pragma once
// MESSAGE LOCAL_POSITION_NED_COV PACKING

#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV 64


typedef struct __mavlink_local_position_ned_cov_t {
 uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
 float x; /*< [m] X Position*/
 float y; /*< [m] Y Position*/
 float z; /*< [m] Z Position*/
 float vx; /*< [m/s] X Speed*/
 float vy; /*< [m/s] Y Speed*/
 float vz; /*< [m/s] Z Speed*/
 float ax; /*< [m/s/s] X Acceleration*/
 float ay; /*< [m/s/s] Y Acceleration*/
 float az; /*< [m/s/s] Z Acceleration*/
 float covariance[45]; /*<  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.*/
 uint8_t estimator_type; /*<  Class id of the estimator this estimate originated from.*/
} mavlink_local_position_ned_cov_t;

#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN 225
#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN 225
#define MAVLINK_MSG_ID_64_LEN 225
#define MAVLINK_MSG_ID_64_MIN_LEN 225

#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC 191
#define MAVLINK_MSG_ID_64_CRC 191

#define MAVLINK_MSG_LOCAL_POSITION_NED_COV_FIELD_COVARIANCE_LEN 45

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
    64, \
    "LOCAL_POSITION_NED_COV", \
    12, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_usec) }, \
         { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 224, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_cov_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, z) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
         { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
         { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
         { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, az) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 44, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
    "LOCAL_POSITION_NED_COV", \
    12, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_usec) }, \
         { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 224, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_cov_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, z) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
         { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
         { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
         { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, az) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 44, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
         } \
}
#endif

/**
 * @brief Pack a local_position_ned_cov message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 * @param estimator_type  Class id of the estimator this estimate originated from.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param vx [m/s] X Speed
 * @param vy [m/s] Y Speed
 * @param vz [m/s] Z Speed
 * @param ax [m/s/s] X Acceleration
 * @param ay [m/s/s] Y Acceleration
 * @param az [m/s/s] Z Acceleration
 * @param covariance  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, vx);
    _mav_put_float(buf, 24, vy);
    _mav_put_float(buf, 28, vz);
    _mav_put_float(buf, 32, ax);
    _mav_put_float(buf, 36, ay);
    _mav_put_float(buf, 40, az);
    _mav_put_uint8_t(buf, 224, estimator_type);
    _mav_put_float_array(buf, 44, covariance, 45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#else
    mavlink_local_position_ned_cov_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.ax = ax;
    packet.ay = ay;
    packet.az = az;
    packet.estimator_type = estimator_type;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
}

/**
 * @brief Pack a local_position_ned_cov message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 *
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 * @param estimator_type  Class id of the estimator this estimate originated from.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param vx [m/s] X Speed
 * @param vy [m/s] Y Speed
 * @param vz [m/s] Z Speed
 * @param ax [m/s/s] X Acceleration
 * @param ay [m/s/s] Y Acceleration
 * @param az [m/s/s] Z Acceleration
 * @param covariance  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, vx);
    _mav_put_float(buf, 24, vy);
    _mav_put_float(buf, 28, vz);
    _mav_put_float(buf, 32, ax);
    _mav_put_float(buf, 36, ay);
    _mav_put_float(buf, 40, az);
    _mav_put_uint8_t(buf, 224, estimator_type);
    _mav_put_float_array(buf, 44, covariance, 45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#else
    mavlink_local_position_ned_cov_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.ax = ax;
    packet.ay = ay;
    packet.az = az;
    packet.estimator_type = estimator_type;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#endif
}

/**
 * @brief Pack a local_position_ned_cov message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 * @param estimator_type  Class id of the estimator this estimate originated from.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param vx [m/s] X Speed
 * @param vy [m/s] Y Speed
 * @param vz [m/s] Z Speed
 * @param ax [m/s/s] X Acceleration
 * @param ay [m/s/s] Y Acceleration
 * @param az [m/s/s] Z Acceleration
 * @param covariance  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint64_t time_usec,uint8_t estimator_type,float x,float y,float z,float vx,float vy,float vz,float ax,float ay,float az,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, vx);
    _mav_put_float(buf, 24, vy);
    _mav_put_float(buf, 28, vz);
    _mav_put_float(buf, 32, ax);
    _mav_put_float(buf, 36, ay);
    _mav_put_float(buf, 40, az);
    _mav_put_uint8_t(buf, 224, estimator_type);
    _mav_put_float_array(buf, 44, covariance, 45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#else
    mavlink_local_position_ned_cov_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.ax = ax;
    packet.ay = ay;
    packet.az = az;
    packet.estimator_type = estimator_type;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
}

/**
 * @brief Encode a local_position_ned_cov struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param local_position_ned_cov C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
{
    return mavlink_msg_local_position_ned_cov_pack(system_id, component_id, msg, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
}

/**
 * @brief Encode a local_position_ned_cov struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param local_position_ned_cov C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
{
    return mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, chan, msg, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
}

/**
 * @brief Encode a local_position_ned_cov struct with provided status structure
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 * @param local_position_ned_cov C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
{
    return mavlink_msg_local_position_ned_cov_pack_status(system_id, component_id, _status, msg,  local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
}

/**
 * @brief Send a local_position_ned_cov message
 * @param chan MAVLink channel to send the message
 *
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 * @param estimator_type  Class id of the estimator this estimate originated from.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param vx [m/s] X Speed
 * @param vy [m/s] Y Speed
 * @param vz [m/s] Z Speed
 * @param ax [m/s/s] X Acceleration
 * @param ay [m/s/s] Y Acceleration
 * @param az [m/s/s] Z Acceleration
 * @param covariance  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_local_position_ned_cov_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, vx);
    _mav_put_float(buf, 24, vy);
    _mav_put_float(buf, 28, vz);
    _mav_put_float(buf, 32, ax);
    _mav_put_float(buf, 36, ay);
    _mav_put_float(buf, 40, az);
    _mav_put_uint8_t(buf, 224, estimator_type);
    _mav_put_float_array(buf, 44, covariance, 45);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#else
    mavlink_local_position_ned_cov_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.ax = ax;
    packet.ay = ay;
    packet.az = az;
    packet.estimator_type = estimator_type;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#endif
}

/**
 * @brief Send a local_position_ned_cov message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_local_position_ned_cov_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_local_position_ned_cov_send(chan, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)local_position_ned_cov, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#endif
}

#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_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_local_position_ned_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, vx);
    _mav_put_float(buf, 24, vy);
    _mav_put_float(buf, 28, vz);
    _mav_put_float(buf, 32, ax);
    _mav_put_float(buf, 36, ay);
    _mav_put_float(buf, 40, az);
    _mav_put_uint8_t(buf, 224, estimator_type);
    _mav_put_float_array(buf, 44, covariance, 45);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#else
    mavlink_local_position_ned_cov_t *packet = (mavlink_local_position_ned_cov_t *)msgbuf;
    packet->time_usec = time_usec;
    packet->x = x;
    packet->y = y;
    packet->z = z;
    packet->vx = vx;
    packet->vy = vy;
    packet->vz = vz;
    packet->ax = ax;
    packet->ay = ay;
    packet->az = az;
    packet->estimator_type = estimator_type;
    mav_array_memcpy(packet->covariance, covariance, sizeof(float)*45);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
#endif
}
#endif

#endif

// MESSAGE LOCAL_POSITION_NED_COV UNPACKING


/**
 * @brief Get field time_usec from local_position_ned_cov message
 *
 * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 */
static inline uint64_t mavlink_msg_local_position_ned_cov_get_time_usec(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint64_t(msg,  0);
}

/**
 * @brief Get field estimator_type from local_position_ned_cov message
 *
 * @return  Class id of the estimator this estimate originated from.
 */
static inline uint8_t mavlink_msg_local_position_ned_cov_get_estimator_type(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  224);
}

/**
 * @brief Get field x from local_position_ned_cov message
 *
 * @return [m] X Position
 */
static inline float mavlink_msg_local_position_ned_cov_get_x(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field y from local_position_ned_cov message
 *
 * @return [m] Y Position
 */
static inline float mavlink_msg_local_position_ned_cov_get_y(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field z from local_position_ned_cov message
 *
 * @return [m] Z Position
 */
static inline float mavlink_msg_local_position_ned_cov_get_z(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field vx from local_position_ned_cov message
 *
 * @return [m/s] X Speed
 */
static inline float mavlink_msg_local_position_ned_cov_get_vx(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field vy from local_position_ned_cov message
 *
 * @return [m/s] Y Speed
 */
static inline float mavlink_msg_local_position_ned_cov_get_vy(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field vz from local_position_ned_cov message
 *
 * @return [m/s] Z Speed
 */
static inline float mavlink_msg_local_position_ned_cov_get_vz(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field ax from local_position_ned_cov message
 *
 * @return [m/s/s] X Acceleration
 */
static inline float mavlink_msg_local_position_ned_cov_get_ax(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  32);
}

/**
 * @brief Get field ay from local_position_ned_cov message
 *
 * @return [m/s/s] Y Acceleration
 */
static inline float mavlink_msg_local_position_ned_cov_get_ay(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  36);
}

/**
 * @brief Get field az from local_position_ned_cov message
 *
 * @return [m/s/s] Z Acceleration
 */
static inline float mavlink_msg_local_position_ned_cov_get_az(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  40);
}

/**
 * @brief Get field covariance from local_position_ned_cov message
 *
 * @return  Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 */
static inline uint16_t mavlink_msg_local_position_ned_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
{
    return _MAV_RETURN_float_array(msg, covariance, 45,  44);
}

/**
 * @brief Decode a local_position_ned_cov message into a struct
 *
 * @param msg The message to decode
 * @param local_position_ned_cov C-struct to decode the message contents into
 */
static inline void mavlink_msg_local_position_ned_cov_decode(const mavlink_message_t* msg, mavlink_local_position_ned_cov_t* local_position_ned_cov)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    local_position_ned_cov->time_usec = mavlink_msg_local_position_ned_cov_get_time_usec(msg);
    local_position_ned_cov->x = mavlink_msg_local_position_ned_cov_get_x(msg);
    local_position_ned_cov->y = mavlink_msg_local_position_ned_cov_get_y(msg);
    local_position_ned_cov->z = mavlink_msg_local_position_ned_cov_get_z(msg);
    local_position_ned_cov->vx = mavlink_msg_local_position_ned_cov_get_vx(msg);
    local_position_ned_cov->vy = mavlink_msg_local_position_ned_cov_get_vy(msg);
    local_position_ned_cov->vz = mavlink_msg_local_position_ned_cov_get_vz(msg);
    local_position_ned_cov->ax = mavlink_msg_local_position_ned_cov_get_ax(msg);
    local_position_ned_cov->ay = mavlink_msg_local_position_ned_cov_get_ay(msg);
    local_position_ned_cov->az = mavlink_msg_local_position_ned_cov_get_az(msg);
    mavlink_msg_local_position_ned_cov_get_covariance(msg, local_position_ned_cov->covariance);
    local_position_ned_cov->estimator_type = mavlink_msg_local_position_ned_cov_get_estimator_type(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN;
        memset(local_position_ned_cov, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
    memcpy(local_position_ned_cov, _MAV_PAYLOAD(msg), len);
#endif
}