VK_Mavlink/v2.0/common/mavlink_msg_hil_state.h

#pragma once
// MESSAGE HIL_STATE PACKING

#define MAVLINK_MSG_ID_HIL_STATE 90


typedef struct __mavlink_hil_state_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 roll; /*< [rad] Roll angle*/
 float pitch; /*< [rad] Pitch angle*/
 float yaw; /*< [rad] Yaw angle*/
 float rollspeed; /*< [rad/s] Body frame roll / phi angular speed*/
 float pitchspeed; /*< [rad/s] Body frame pitch / theta angular speed*/
 float yawspeed; /*< [rad/s] Body frame yaw / psi angular speed*/
 int32_t lat; /*< [degE7] Latitude*/
 int32_t lon; /*< [degE7] Longitude*/
 int32_t alt; /*< [mm] Altitude*/
 int16_t vx; /*< [cm/s] Ground X Speed (Latitude)*/
 int16_t vy; /*< [cm/s] Ground Y Speed (Longitude)*/
 int16_t vz; /*< [cm/s] Ground Z Speed (Altitude)*/
 int16_t xacc; /*< [mG] X acceleration*/
 int16_t yacc; /*< [mG] Y acceleration*/
 int16_t zacc; /*< [mG] Z acceleration*/
} mavlink_hil_state_t;

#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
#define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56
#define MAVLINK_MSG_ID_90_LEN 56
#define MAVLINK_MSG_ID_90_MIN_LEN 56

#define MAVLINK_MSG_ID_HIL_STATE_CRC 183
#define MAVLINK_MSG_ID_90_CRC 183



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
    90, \
    "HIL_STATE", \
    16, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
    "HIL_STATE", \
    16, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
         } \
}
#endif

/**
 * @brief Pack a hil_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 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 roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param rollspeed [rad/s] Body frame roll / phi angular speed
 * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 * @param lat [degE7] Latitude
 * @param lon [degE7] Longitude
 * @param alt [mm] Altitude
 * @param vx [cm/s] Ground X Speed (Latitude)
 * @param vy [cm/s] Ground Y Speed (Longitude)
 * @param vz [cm/s] Ground Z Speed (Altitude)
 * @param xacc [mG] X acceleration
 * @param yacc [mG] Y acceleration
 * @param zacc [mG] Z acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, roll);
    _mav_put_float(buf, 12, pitch);
    _mav_put_float(buf, 16, yaw);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);
    _mav_put_int32_t(buf, 32, lat);
    _mav_put_int32_t(buf, 36, lon);
    _mav_put_int32_t(buf, 40, alt);
    _mav_put_int16_t(buf, 44, vx);
    _mav_put_int16_t(buf, 46, vy);
    _mav_put_int16_t(buf, 48, vz);
    _mav_put_int16_t(buf, 50, xacc);
    _mav_put_int16_t(buf, 52, yacc);
    _mav_put_int16_t(buf, 54, zacc);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
#else
    mavlink_hil_state_t packet;
    packet.time_usec = time_usec;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;

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

    msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
}

/**
 * @brief Pack a hil_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 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 roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param rollspeed [rad/s] Body frame roll / phi angular speed
 * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 * @param lat [degE7] Latitude
 * @param lon [degE7] Longitude
 * @param alt [mm] Altitude
 * @param vx [cm/s] Ground X Speed (Latitude)
 * @param vy [cm/s] Ground Y Speed (Longitude)
 * @param vz [cm/s] Ground Z Speed (Altitude)
 * @param xacc [mG] X acceleration
 * @param yacc [mG] Y acceleration
 * @param zacc [mG] Z acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_hil_state_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, roll);
    _mav_put_float(buf, 12, pitch);
    _mav_put_float(buf, 16, yaw);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);
    _mav_put_int32_t(buf, 32, lat);
    _mav_put_int32_t(buf, 36, lon);
    _mav_put_int32_t(buf, 40, alt);
    _mav_put_int16_t(buf, 44, vx);
    _mav_put_int16_t(buf, 46, vy);
    _mav_put_int16_t(buf, 48, vz);
    _mav_put_int16_t(buf, 50, xacc);
    _mav_put_int16_t(buf, 52, yacc);
    _mav_put_int16_t(buf, 54, zacc);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
#else
    mavlink_hil_state_t packet;
    packet.time_usec = time_usec;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;

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

    msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN);
#endif
}

/**
 * @brief Pack a hil_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 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 roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param rollspeed [rad/s] Body frame roll / phi angular speed
 * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 * @param lat [degE7] Latitude
 * @param lon [degE7] Longitude
 * @param alt [mm] Altitude
 * @param vx [cm/s] Ground X Speed (Latitude)
 * @param vy [cm/s] Ground Y Speed (Longitude)
 * @param vz [cm/s] Ground Z Speed (Altitude)
 * @param xacc [mG] X acceleration
 * @param yacc [mG] Y acceleration
 * @param zacc [mG] Z acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, roll);
    _mav_put_float(buf, 12, pitch);
    _mav_put_float(buf, 16, yaw);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);
    _mav_put_int32_t(buf, 32, lat);
    _mav_put_int32_t(buf, 36, lon);
    _mav_put_int32_t(buf, 40, alt);
    _mav_put_int16_t(buf, 44, vx);
    _mav_put_int16_t(buf, 46, vy);
    _mav_put_int16_t(buf, 48, vz);
    _mav_put_int16_t(buf, 50, xacc);
    _mav_put_int16_t(buf, 52, yacc);
    _mav_put_int16_t(buf, 54, zacc);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
#else
    mavlink_hil_state_t packet;
    packet.time_usec = time_usec;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;

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

    msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
}

/**
 * @brief Encode a hil_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 hil_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
{
    return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
}

/**
 * @brief Encode a hil_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 hil_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
{
    return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
}

/**
 * @brief Encode a hil_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 hil_state C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_hil_state_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
{
    return mavlink_msg_hil_state_pack_status(system_id, component_id, _status, msg,  hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
}

/**
 * @brief Send a hil_state 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 roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param rollspeed [rad/s] Body frame roll / phi angular speed
 * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 * @param lat [degE7] Latitude
 * @param lon [degE7] Longitude
 * @param alt [mm] Altitude
 * @param vx [cm/s] Ground X Speed (Latitude)
 * @param vy [cm/s] Ground Y Speed (Longitude)
 * @param vz [cm/s] Ground Z Speed (Altitude)
 * @param xacc [mG] X acceleration
 * @param yacc [mG] Y acceleration
 * @param zacc [mG] Z acceleration
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, roll);
    _mav_put_float(buf, 12, pitch);
    _mav_put_float(buf, 16, yaw);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);
    _mav_put_int32_t(buf, 32, lat);
    _mav_put_int32_t(buf, 36, lon);
    _mav_put_int32_t(buf, 40, alt);
    _mav_put_int16_t(buf, 44, vx);
    _mav_put_int16_t(buf, 46, vy);
    _mav_put_int16_t(buf, 48, vz);
    _mav_put_int16_t(buf, 50, xacc);
    _mav_put_int16_t(buf, 52, yacc);
    _mav_put_int16_t(buf, 54, zacc);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#else
    mavlink_hil_state_t packet;
    packet.time_usec = time_usec;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt = alt;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#endif
}

/**
 * @brief Send a hil_state message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_hil_state_send(chan, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)hil_state, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#endif
}

#if MAVLINK_MSG_ID_HIL_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_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#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, roll);
    _mav_put_float(buf, 12, pitch);
    _mav_put_float(buf, 16, yaw);
    _mav_put_float(buf, 20, rollspeed);
    _mav_put_float(buf, 24, pitchspeed);
    _mav_put_float(buf, 28, yawspeed);
    _mav_put_int32_t(buf, 32, lat);
    _mav_put_int32_t(buf, 36, lon);
    _mav_put_int32_t(buf, 40, alt);
    _mav_put_int16_t(buf, 44, vx);
    _mav_put_int16_t(buf, 46, vy);
    _mav_put_int16_t(buf, 48, vz);
    _mav_put_int16_t(buf, 50, xacc);
    _mav_put_int16_t(buf, 52, yacc);
    _mav_put_int16_t(buf, 54, zacc);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#else
    mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
    packet->time_usec = time_usec;
    packet->roll = roll;
    packet->pitch = pitch;
    packet->yaw = yaw;
    packet->rollspeed = rollspeed;
    packet->pitchspeed = pitchspeed;
    packet->yawspeed = yawspeed;
    packet->lat = lat;
    packet->lon = lon;
    packet->alt = alt;
    packet->vx = vx;
    packet->vy = vy;
    packet->vz = vz;
    packet->xacc = xacc;
    packet->yacc = yacc;
    packet->zacc = zacc;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
#endif
}
#endif

#endif

// MESSAGE HIL_STATE UNPACKING


/**
 * @brief Get field time_usec from hil_state 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_hil_state_get_time_usec(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint64_t(msg,  0);
}

/**
 * @brief Get field roll from hil_state message
 *
 * @return [rad] Roll angle
 */
static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field pitch from hil_state message
 *
 * @return [rad] Pitch angle
 */
static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field yaw from hil_state message
 *
 * @return [rad] Yaw angle
 */
static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field rollspeed from hil_state message
 *
 * @return [rad/s] Body frame roll / phi angular speed
 */
static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field pitchspeed from hil_state message
 *
 * @return [rad/s] Body frame pitch / theta angular speed
 */
static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field yawspeed from hil_state message
 *
 * @return [rad/s] Body frame yaw / psi angular speed
 */
static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field lat from hil_state message
 *
 * @return [degE7] Latitude
 */
static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  32);
}

/**
 * @brief Get field lon from hil_state message
 *
 * @return [degE7] Longitude
 */
static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  36);
}

/**
 * @brief Get field alt from hil_state message
 *
 * @return [mm] Altitude
 */
static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  40);
}

/**
 * @brief Get field vx from hil_state message
 *
 * @return [cm/s] Ground X Speed (Latitude)
 */
static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  44);
}

/**
 * @brief Get field vy from hil_state message
 *
 * @return [cm/s] Ground Y Speed (Longitude)
 */
static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  46);
}

/**
 * @brief Get field vz from hil_state message
 *
 * @return [cm/s] Ground Z Speed (Altitude)
 */
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  48);
}

/**
 * @brief Get field xacc from hil_state message
 *
 * @return [mG] X acceleration
 */
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  50);
}

/**
 * @brief Get field yacc from hil_state message
 *
 * @return [mG] Y acceleration
 */
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  52);
}

/**
 * @brief Get field zacc from hil_state message
 *
 * @return [mG] Z acceleration
 */
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  54);
}

/**
 * @brief Decode a hil_state message into a struct
 *
 * @param msg The message to decode
 * @param hil_state C-struct to decode the message contents into
 */
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
    hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
    hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
    hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
    hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
    hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
    hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
    hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
    hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
    hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
    hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
    hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
    hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
    hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
    hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
    hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN;
        memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN);
    memcpy(hil_state, _MAV_PAYLOAD(msg), len);
#endif
}