VK_Mavlink/v2.0/common/mavlink_msg_sim_state.h

#pragma once
// MESSAGE SIM_STATE PACKING

#define MAVLINK_MSG_ID_SIM_STATE 108


typedef struct __mavlink_sim_state_t {
 float q1; /*<  True attitude quaternion component 1, w (1 in null-rotation)*/
 float q2; /*<  True attitude quaternion component 2, x (0 in null-rotation)*/
 float q3; /*<  True attitude quaternion component 3, y (0 in null-rotation)*/
 float q4; /*<  True attitude quaternion component 4, z (0 in null-rotation)*/
 float roll; /*<  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs*/
 float pitch; /*<  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs*/
 float yaw; /*<  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs*/
 float xacc; /*< [m/s/s] X acceleration*/
 float yacc; /*< [m/s/s] Y acceleration*/
 float zacc; /*< [m/s/s] Z acceleration*/
 float xgyro; /*< [rad/s] Angular speed around X axis*/
 float ygyro; /*< [rad/s] Angular speed around Y axis*/
 float zgyro; /*< [rad/s] Angular speed around Z axis*/
 float lat; /*< [deg] Latitude (lower precision). Both this and the lat_int field should be set.*/
 float lon; /*< [deg] Longitude (lower precision). Both this and the lon_int field should be set.*/
 float alt; /*< [m] Altitude*/
 float std_dev_horz; /*<  Horizontal position standard deviation*/
 float std_dev_vert; /*<  Vertical position standard deviation*/
 float vn; /*< [m/s] True velocity in north direction in earth-fixed NED frame*/
 float ve; /*< [m/s] True velocity in east direction in earth-fixed NED frame*/
 float vd; /*< [m/s] True velocity in down direction in earth-fixed NED frame*/
 int32_t lat_int; /*< [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).*/
 int32_t lon_int; /*< [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).*/
} mavlink_sim_state_t;

#define MAVLINK_MSG_ID_SIM_STATE_LEN 92
#define MAVLINK_MSG_ID_SIM_STATE_MIN_LEN 84
#define MAVLINK_MSG_ID_108_LEN 92
#define MAVLINK_MSG_ID_108_MIN_LEN 84

#define MAVLINK_MSG_ID_SIM_STATE_CRC 32
#define MAVLINK_MSG_ID_108_CRC 32



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_SIM_STATE { \
    108, \
    "SIM_STATE", \
    23, \
    {  { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, q1) }, \
         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, q2) }, \
         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, q3) }, \
         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, q4) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, yaw) }, \
         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_sim_state_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_sim_state_t, zgyro) }, \
         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_sim_state_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_sim_state_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_sim_state_t, alt) }, \
         { "std_dev_horz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_sim_state_t, std_dev_horz) }, \
         { "std_dev_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_sim_state_t, std_dev_vert) }, \
         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_sim_state_t, vn) }, \
         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_sim_state_t, ve) }, \
         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_sim_state_t, vd) }, \
         { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 84, offsetof(mavlink_sim_state_t, lat_int) }, \
         { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 88, offsetof(mavlink_sim_state_t, lon_int) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_SIM_STATE { \
    "SIM_STATE", \
    23, \
    {  { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, q1) }, \
         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, q2) }, \
         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, q3) }, \
         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, q4) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, yaw) }, \
         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_sim_state_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_sim_state_t, zgyro) }, \
         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_sim_state_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_sim_state_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_sim_state_t, alt) }, \
         { "std_dev_horz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_sim_state_t, std_dev_horz) }, \
         { "std_dev_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_sim_state_t, std_dev_vert) }, \
         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_sim_state_t, vn) }, \
         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_sim_state_t, ve) }, \
         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_sim_state_t, vd) }, \
         { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 84, offsetof(mavlink_sim_state_t, lat_int) }, \
         { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 88, offsetof(mavlink_sim_state_t, lon_int) }, \
         } \
}
#endif

/**
 * @brief Pack a sim_state 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 q1  True attitude quaternion component 1, w (1 in null-rotation)
 * @param q2  True attitude quaternion component 2, x (0 in null-rotation)
 * @param q3  True attitude quaternion component 3, y (0 in null-rotation)
 * @param q4  True attitude quaternion component 4, z (0 in null-rotation)
 * @param roll  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc [m/s/s] X acceleration
 * @param yacc [m/s/s] Y acceleration
 * @param zacc [m/s/s] Z acceleration
 * @param xgyro [rad/s] Angular speed around X axis
 * @param ygyro [rad/s] Angular speed around Y axis
 * @param zgyro [rad/s] Angular speed around Z axis
 * @param lat [deg] Latitude (lower precision). Both this and the lat_int field should be set.
 * @param lon [deg] Longitude (lower precision). Both this and the lon_int field should be set.
 * @param alt [m] Altitude
 * @param std_dev_horz  Horizontal position standard deviation
 * @param std_dev_vert  Vertical position standard deviation
 * @param vn [m/s] True velocity in north direction in earth-fixed NED frame
 * @param ve [m/s] True velocity in east direction in earth-fixed NED frame
 * @param vd [m/s] True velocity in down direction in earth-fixed NED frame
 * @param lat_int [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
 * @param lon_int [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd, int32_t lat_int, int32_t lon_int)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
    _mav_put_float(buf, 0, q1);
    _mav_put_float(buf, 4, q2);
    _mav_put_float(buf, 8, q3);
    _mav_put_float(buf, 12, q4);
    _mav_put_float(buf, 16, roll);
    _mav_put_float(buf, 20, pitch);
    _mav_put_float(buf, 24, yaw);
    _mav_put_float(buf, 28, xacc);
    _mav_put_float(buf, 32, yacc);
    _mav_put_float(buf, 36, zacc);
    _mav_put_float(buf, 40, xgyro);
    _mav_put_float(buf, 44, ygyro);
    _mav_put_float(buf, 48, zgyro);
    _mav_put_float(buf, 52, lat);
    _mav_put_float(buf, 56, lon);
    _mav_put_float(buf, 60, alt);
    _mav_put_float(buf, 64, std_dev_horz);
    _mav_put_float(buf, 68, std_dev_vert);
    _mav_put_float(buf, 72, vn);
    _mav_put_float(buf, 76, ve);
    _mav_put_float(buf, 80, vd);
    _mav_put_int32_t(buf, 84, lat_int);
    _mav_put_int32_t(buf, 88, lon_int);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#else
    mavlink_sim_state_t packet;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.std_dev_horz = std_dev_horz;
    packet.std_dev_vert = std_dev_vert;
    packet.vn = vn;
    packet.ve = ve;
    packet.vd = vd;
    packet.lat_int = lat_int;
    packet.lon_int = lon_int;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
}

/**
 * @brief Pack a sim_state 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 q1  True attitude quaternion component 1, w (1 in null-rotation)
 * @param q2  True attitude quaternion component 2, x (0 in null-rotation)
 * @param q3  True attitude quaternion component 3, y (0 in null-rotation)
 * @param q4  True attitude quaternion component 4, z (0 in null-rotation)
 * @param roll  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc [m/s/s] X acceleration
 * @param yacc [m/s/s] Y acceleration
 * @param zacc [m/s/s] Z acceleration
 * @param xgyro [rad/s] Angular speed around X axis
 * @param ygyro [rad/s] Angular speed around Y axis
 * @param zgyro [rad/s] Angular speed around Z axis
 * @param lat [deg] Latitude (lower precision). Both this and the lat_int field should be set.
 * @param lon [deg] Longitude (lower precision). Both this and the lon_int field should be set.
 * @param alt [m] Altitude
 * @param std_dev_horz  Horizontal position standard deviation
 * @param std_dev_vert  Vertical position standard deviation
 * @param vn [m/s] True velocity in north direction in earth-fixed NED frame
 * @param ve [m/s] True velocity in east direction in earth-fixed NED frame
 * @param vd [m/s] True velocity in down direction in earth-fixed NED frame
 * @param lat_int [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
 * @param lon_int [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sim_state_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd, int32_t lat_int, int32_t lon_int)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
    _mav_put_float(buf, 0, q1);
    _mav_put_float(buf, 4, q2);
    _mav_put_float(buf, 8, q3);
    _mav_put_float(buf, 12, q4);
    _mav_put_float(buf, 16, roll);
    _mav_put_float(buf, 20, pitch);
    _mav_put_float(buf, 24, yaw);
    _mav_put_float(buf, 28, xacc);
    _mav_put_float(buf, 32, yacc);
    _mav_put_float(buf, 36, zacc);
    _mav_put_float(buf, 40, xgyro);
    _mav_put_float(buf, 44, ygyro);
    _mav_put_float(buf, 48, zgyro);
    _mav_put_float(buf, 52, lat);
    _mav_put_float(buf, 56, lon);
    _mav_put_float(buf, 60, alt);
    _mav_put_float(buf, 64, std_dev_horz);
    _mav_put_float(buf, 68, std_dev_vert);
    _mav_put_float(buf, 72, vn);
    _mav_put_float(buf, 76, ve);
    _mav_put_float(buf, 80, vd);
    _mav_put_int32_t(buf, 84, lat_int);
    _mav_put_int32_t(buf, 88, lon_int);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#else
    mavlink_sim_state_t packet;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.std_dev_horz = std_dev_horz;
    packet.std_dev_vert = std_dev_vert;
    packet.vn = vn;
    packet.ve = ve;
    packet.vd = vd;
    packet.lat_int = lat_int;
    packet.lon_int = lon_int;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif
}

/**
 * @brief Pack a sim_state 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 q1  True attitude quaternion component 1, w (1 in null-rotation)
 * @param q2  True attitude quaternion component 2, x (0 in null-rotation)
 * @param q3  True attitude quaternion component 3, y (0 in null-rotation)
 * @param q4  True attitude quaternion component 4, z (0 in null-rotation)
 * @param roll  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc [m/s/s] X acceleration
 * @param yacc [m/s/s] Y acceleration
 * @param zacc [m/s/s] Z acceleration
 * @param xgyro [rad/s] Angular speed around X axis
 * @param ygyro [rad/s] Angular speed around Y axis
 * @param zgyro [rad/s] Angular speed around Z axis
 * @param lat [deg] Latitude (lower precision). Both this and the lat_int field should be set.
 * @param lon [deg] Longitude (lower precision). Both this and the lon_int field should be set.
 * @param alt [m] Altitude
 * @param std_dev_horz  Horizontal position standard deviation
 * @param std_dev_vert  Vertical position standard deviation
 * @param vn [m/s] True velocity in north direction in earth-fixed NED frame
 * @param ve [m/s] True velocity in east direction in earth-fixed NED frame
 * @param vd [m/s] True velocity in down direction in earth-fixed NED frame
 * @param lat_int [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
 * @param lon_int [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   float q1,float q2,float q3,float q4,float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lon,float alt,float std_dev_horz,float std_dev_vert,float vn,float ve,float vd,int32_t lat_int,int32_t lon_int)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
    _mav_put_float(buf, 0, q1);
    _mav_put_float(buf, 4, q2);
    _mav_put_float(buf, 8, q3);
    _mav_put_float(buf, 12, q4);
    _mav_put_float(buf, 16, roll);
    _mav_put_float(buf, 20, pitch);
    _mav_put_float(buf, 24, yaw);
    _mav_put_float(buf, 28, xacc);
    _mav_put_float(buf, 32, yacc);
    _mav_put_float(buf, 36, zacc);
    _mav_put_float(buf, 40, xgyro);
    _mav_put_float(buf, 44, ygyro);
    _mav_put_float(buf, 48, zgyro);
    _mav_put_float(buf, 52, lat);
    _mav_put_float(buf, 56, lon);
    _mav_put_float(buf, 60, alt);
    _mav_put_float(buf, 64, std_dev_horz);
    _mav_put_float(buf, 68, std_dev_vert);
    _mav_put_float(buf, 72, vn);
    _mav_put_float(buf, 76, ve);
    _mav_put_float(buf, 80, vd);
    _mav_put_int32_t(buf, 84, lat_int);
    _mav_put_int32_t(buf, 88, lon_int);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
#else
    mavlink_sim_state_t packet;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.std_dev_horz = std_dev_horz;
    packet.std_dev_vert = std_dev_vert;
    packet.vn = vn;
    packet.ve = ve;
    packet.vd = vd;
    packet.lat_int = lat_int;
    packet.lon_int = lon_int;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
}

/**
 * @brief Encode a sim_state 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 sim_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_sim_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
{
    return mavlink_msg_sim_state_pack(system_id, component_id, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd, sim_state->lat_int, sim_state->lon_int);
}

/**
 * @brief Encode a sim_state 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 sim_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_sim_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
{
    return mavlink_msg_sim_state_pack_chan(system_id, component_id, chan, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd, sim_state->lat_int, sim_state->lon_int);
}

/**
 * @brief Encode a sim_state 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 sim_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_sim_state_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
{
    return mavlink_msg_sim_state_pack_status(system_id, component_id, _status, msg,  sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd, sim_state->lat_int, sim_state->lon_int);
}

/**
 * @brief Send a sim_state message
 * @param chan MAVLink channel to send the message
 *
 * @param q1  True attitude quaternion component 1, w (1 in null-rotation)
 * @param q2  True attitude quaternion component 2, x (0 in null-rotation)
 * @param q3  True attitude quaternion component 3, y (0 in null-rotation)
 * @param q4  True attitude quaternion component 4, z (0 in null-rotation)
 * @param roll  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 * @param pitch  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 * @param yaw  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 * @param xacc [m/s/s] X acceleration
 * @param yacc [m/s/s] Y acceleration
 * @param zacc [m/s/s] Z acceleration
 * @param xgyro [rad/s] Angular speed around X axis
 * @param ygyro [rad/s] Angular speed around Y axis
 * @param zgyro [rad/s] Angular speed around Z axis
 * @param lat [deg] Latitude (lower precision). Both this and the lat_int field should be set.
 * @param lon [deg] Longitude (lower precision). Both this and the lon_int field should be set.
 * @param alt [m] Altitude
 * @param std_dev_horz  Horizontal position standard deviation
 * @param std_dev_vert  Vertical position standard deviation
 * @param vn [m/s] True velocity in north direction in earth-fixed NED frame
 * @param ve [m/s] True velocity in east direction in earth-fixed NED frame
 * @param vd [m/s] True velocity in down direction in earth-fixed NED frame
 * @param lat_int [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
 * @param lon_int [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd, int32_t lat_int, int32_t lon_int)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
    _mav_put_float(buf, 0, q1);
    _mav_put_float(buf, 4, q2);
    _mav_put_float(buf, 8, q3);
    _mav_put_float(buf, 12, q4);
    _mav_put_float(buf, 16, roll);
    _mav_put_float(buf, 20, pitch);
    _mav_put_float(buf, 24, yaw);
    _mav_put_float(buf, 28, xacc);
    _mav_put_float(buf, 32, yacc);
    _mav_put_float(buf, 36, zacc);
    _mav_put_float(buf, 40, xgyro);
    _mav_put_float(buf, 44, ygyro);
    _mav_put_float(buf, 48, zgyro);
    _mav_put_float(buf, 52, lat);
    _mav_put_float(buf, 56, lon);
    _mav_put_float(buf, 60, alt);
    _mav_put_float(buf, 64, std_dev_horz);
    _mav_put_float(buf, 68, std_dev_vert);
    _mav_put_float(buf, 72, vn);
    _mav_put_float(buf, 76, ve);
    _mav_put_float(buf, 80, vd);
    _mav_put_int32_t(buf, 84, lat_int);
    _mav_put_int32_t(buf, 88, lon_int);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    mavlink_sim_state_t packet;
    packet.q1 = q1;
    packet.q2 = q2;
    packet.q3 = q3;
    packet.q4 = q4;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.std_dev_horz = std_dev_horz;
    packet.std_dev_vert = std_dev_vert;
    packet.vn = vn;
    packet.ve = ve;
    packet.vd = vd;
    packet.lat_int = lat_int;
    packet.lon_int = lon_int;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#endif
}

/**
 * @brief Send a sim_state message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_sim_state_send_struct(mavlink_channel_t chan, const mavlink_sim_state_t* sim_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_sim_state_send(chan, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd, sim_state->lat_int, sim_state->lon_int);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)sim_state, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#endif
}

#if MAVLINK_MSG_ID_SIM_STATE_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_sim_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd, int32_t lat_int, int32_t lon_int)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_float(buf, 0, q1);
    _mav_put_float(buf, 4, q2);
    _mav_put_float(buf, 8, q3);
    _mav_put_float(buf, 12, q4);
    _mav_put_float(buf, 16, roll);
    _mav_put_float(buf, 20, pitch);
    _mav_put_float(buf, 24, yaw);
    _mav_put_float(buf, 28, xacc);
    _mav_put_float(buf, 32, yacc);
    _mav_put_float(buf, 36, zacc);
    _mav_put_float(buf, 40, xgyro);
    _mav_put_float(buf, 44, ygyro);
    _mav_put_float(buf, 48, zgyro);
    _mav_put_float(buf, 52, lat);
    _mav_put_float(buf, 56, lon);
    _mav_put_float(buf, 60, alt);
    _mav_put_float(buf, 64, std_dev_horz);
    _mav_put_float(buf, 68, std_dev_vert);
    _mav_put_float(buf, 72, vn);
    _mav_put_float(buf, 76, ve);
    _mav_put_float(buf, 80, vd);
    _mav_put_int32_t(buf, 84, lat_int);
    _mav_put_int32_t(buf, 88, lon_int);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#else
    mavlink_sim_state_t *packet = (mavlink_sim_state_t *)msgbuf;
    packet->q1 = q1;
    packet->q2 = q2;
    packet->q3 = q3;
    packet->q4 = q4;
    packet->roll = roll;
    packet->pitch = pitch;
    packet->yaw = yaw;
    packet->xacc = xacc;
    packet->yacc = yacc;
    packet->zacc = zacc;
    packet->xgyro = xgyro;
    packet->ygyro = ygyro;
    packet->zgyro = zgyro;
    packet->lat = lat;
    packet->lon = lon;
    packet->alt = alt;
    packet->std_dev_horz = std_dev_horz;
    packet->std_dev_vert = std_dev_vert;
    packet->vn = vn;
    packet->ve = ve;
    packet->vd = vd;
    packet->lat_int = lat_int;
    packet->lon_int = lon_int;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)packet, MAVLINK_MSG_ID_SIM_STATE_MIN_LEN, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
#endif
}
#endif

#endif

// MESSAGE SIM_STATE UNPACKING


/**
 * @brief Get field q1 from sim_state message
 *
 * @return  True attitude quaternion component 1, w (1 in null-rotation)
 */
static inline float mavlink_msg_sim_state_get_q1(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  0);
}

/**
 * @brief Get field q2 from sim_state message
 *
 * @return  True attitude quaternion component 2, x (0 in null-rotation)
 */
static inline float mavlink_msg_sim_state_get_q2(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  4);
}

/**
 * @brief Get field q3 from sim_state message
 *
 * @return  True attitude quaternion component 3, y (0 in null-rotation)
 */
static inline float mavlink_msg_sim_state_get_q3(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field q4 from sim_state message
 *
 * @return  True attitude quaternion component 4, z (0 in null-rotation)
 */
static inline float mavlink_msg_sim_state_get_q4(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field roll from sim_state message
 *
 * @return  Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_roll(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field pitch from sim_state message
 *
 * @return  Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_pitch(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field yaw from sim_state message
 *
 * @return  Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
 */
static inline float mavlink_msg_sim_state_get_yaw(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field xacc from sim_state message
 *
 * @return [m/s/s] X acceleration
 */
static inline float mavlink_msg_sim_state_get_xacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field yacc from sim_state message
 *
 * @return [m/s/s] Y acceleration
 */
static inline float mavlink_msg_sim_state_get_yacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  32);
}

/**
 * @brief Get field zacc from sim_state message
 *
 * @return [m/s/s] Z acceleration
 */
static inline float mavlink_msg_sim_state_get_zacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  36);
}

/**
 * @brief Get field xgyro from sim_state message
 *
 * @return [rad/s] Angular speed around X axis
 */
static inline float mavlink_msg_sim_state_get_xgyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  40);
}

/**
 * @brief Get field ygyro from sim_state message
 *
 * @return [rad/s] Angular speed around Y axis
 */
static inline float mavlink_msg_sim_state_get_ygyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  44);
}

/**
 * @brief Get field zgyro from sim_state message
 *
 * @return [rad/s] Angular speed around Z axis
 */
static inline float mavlink_msg_sim_state_get_zgyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  48);
}

/**
 * @brief Get field lat from sim_state message
 *
 * @return [deg] Latitude (lower precision). Both this and the lat_int field should be set.
 */
static inline float mavlink_msg_sim_state_get_lat(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  52);
}

/**
 * @brief Get field lon from sim_state message
 *
 * @return [deg] Longitude (lower precision). Both this and the lon_int field should be set.
 */
static inline float mavlink_msg_sim_state_get_lon(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  56);
}

/**
 * @brief Get field alt from sim_state message
 *
 * @return [m] Altitude
 */
static inline float mavlink_msg_sim_state_get_alt(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  60);
}

/**
 * @brief Get field std_dev_horz from sim_state message
 *
 * @return  Horizontal position standard deviation
 */
static inline float mavlink_msg_sim_state_get_std_dev_horz(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  64);
}

/**
 * @brief Get field std_dev_vert from sim_state message
 *
 * @return  Vertical position standard deviation
 */
static inline float mavlink_msg_sim_state_get_std_dev_vert(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  68);
}

/**
 * @brief Get field vn from sim_state message
 *
 * @return [m/s] True velocity in north direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_vn(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  72);
}

/**
 * @brief Get field ve from sim_state message
 *
 * @return [m/s] True velocity in east direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_ve(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  76);
}

/**
 * @brief Get field vd from sim_state message
 *
 * @return [m/s] True velocity in down direction in earth-fixed NED frame
 */
static inline float mavlink_msg_sim_state_get_vd(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  80);
}

/**
 * @brief Get field lat_int from sim_state message
 *
 * @return [degE7] Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
 */
static inline int32_t mavlink_msg_sim_state_get_lat_int(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  84);
}

/**
 * @brief Get field lon_int from sim_state message
 *
 * @return [degE7] Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
 */
static inline int32_t mavlink_msg_sim_state_get_lon_int(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  88);
}

/**
 * @brief Decode a sim_state message into a struct
 *
 * @param msg The message to decode
 * @param sim_state C-struct to decode the message contents into
 */
static inline void mavlink_msg_sim_state_decode(const mavlink_message_t* msg, mavlink_sim_state_t* sim_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    sim_state->q1 = mavlink_msg_sim_state_get_q1(msg);
    sim_state->q2 = mavlink_msg_sim_state_get_q2(msg);
    sim_state->q3 = mavlink_msg_sim_state_get_q3(msg);
    sim_state->q4 = mavlink_msg_sim_state_get_q4(msg);
    sim_state->roll = mavlink_msg_sim_state_get_roll(msg);
    sim_state->pitch = mavlink_msg_sim_state_get_pitch(msg);
    sim_state->yaw = mavlink_msg_sim_state_get_yaw(msg);
    sim_state->xacc = mavlink_msg_sim_state_get_xacc(msg);
    sim_state->yacc = mavlink_msg_sim_state_get_yacc(msg);
    sim_state->zacc = mavlink_msg_sim_state_get_zacc(msg);
    sim_state->xgyro = mavlink_msg_sim_state_get_xgyro(msg);
    sim_state->ygyro = mavlink_msg_sim_state_get_ygyro(msg);
    sim_state->zgyro = mavlink_msg_sim_state_get_zgyro(msg);
    sim_state->lat = mavlink_msg_sim_state_get_lat(msg);
    sim_state->lon = mavlink_msg_sim_state_get_lon(msg);
    sim_state->alt = mavlink_msg_sim_state_get_alt(msg);
    sim_state->std_dev_horz = mavlink_msg_sim_state_get_std_dev_horz(msg);
    sim_state->std_dev_vert = mavlink_msg_sim_state_get_std_dev_vert(msg);
    sim_state->vn = mavlink_msg_sim_state_get_vn(msg);
    sim_state->ve = mavlink_msg_sim_state_get_ve(msg);
    sim_state->vd = mavlink_msg_sim_state_get_vd(msg);
    sim_state->lat_int = mavlink_msg_sim_state_get_lat_int(msg);
    sim_state->lon_int = mavlink_msg_sim_state_get_lon_int(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_SIM_STATE_LEN? msg->len : MAVLINK_MSG_ID_SIM_STATE_LEN;
        memset(sim_state, 0, MAVLINK_MSG_ID_SIM_STATE_LEN);
    memcpy(sim_state, _MAV_PAYLOAD(msg), len);
#endif
}