VK_Mavlink/v2.0/common/mavlink_msg_home_position.h

#pragma once
// MESSAGE HOME_POSITION PACKING

#define MAVLINK_MSG_ID_HOME_POSITION 242

MAVPACKED(
typedef struct __mavlink_home_position_t {
 int32_t latitude; /*< [degE7] Latitude (WGS84)*/
 int32_t longitude; /*< [degE7] Longitude (WGS84)*/
 int32_t altitude; /*< [mm] Altitude (MSL). Positive for up.*/
 float x; /*< [m] Local X position of this position in the local coordinate frame (NED)*/
 float y; /*< [m] Local Y position of this position in the local coordinate frame (NED)*/
 float z; /*< [m] Local Z position of this position in the local coordinate frame (NED: positive "down")*/
 float q[4]; /*<  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      */
 float approach_x; /*< [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
 float approach_y; /*< [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
 float approach_z; /*< [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
 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.*/
}) mavlink_home_position_t;

#define MAVLINK_MSG_ID_HOME_POSITION_LEN 60
#define MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN 52
#define MAVLINK_MSG_ID_242_LEN 60
#define MAVLINK_MSG_ID_242_MIN_LEN 52

#define MAVLINK_MSG_ID_HOME_POSITION_CRC 104
#define MAVLINK_MSG_ID_242_CRC 104

#define MAVLINK_MSG_HOME_POSITION_FIELD_Q_LEN 4

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_HOME_POSITION { \
    242, \
    "HOME_POSITION", \
    11, \
    {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_home_position_t, latitude) }, \
         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_home_position_t, longitude) }, \
         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_home_position_t, altitude) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_home_position_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_home_position_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_home_position_t, z) }, \
         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_home_position_t, q) }, \
         { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_home_position_t, approach_x) }, \
         { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_home_position_t, approach_y) }, \
         { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_home_position_t, approach_z) }, \
         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 52, offsetof(mavlink_home_position_t, time_usec) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_HOME_POSITION { \
    "HOME_POSITION", \
    11, \
    {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_home_position_t, latitude) }, \
         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_home_position_t, longitude) }, \
         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_home_position_t, altitude) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_home_position_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_home_position_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_home_position_t, z) }, \
         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_home_position_t, q) }, \
         { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_home_position_t, approach_x) }, \
         { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_home_position_t, approach_y) }, \
         { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_home_position_t, approach_z) }, \
         { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 52, offsetof(mavlink_home_position_t, time_usec) }, \
         } \
}
#endif

/**
 * @brief Pack a home_position 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 latitude [degE7] Latitude (WGS84)
 * @param longitude [degE7] Longitude (WGS84)
 * @param altitude [mm] Altitude (MSL). Positive for up.
 * @param x [m] Local X position of this position in the local coordinate frame (NED)
 * @param y [m] Local Y position of this position in the local coordinate frame (NED)
 * @param z [m] Local Z position of this position in the local coordinate frame (NED: positive "down")
 * @param q  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      
 * @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @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.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
    _mav_put_int32_t(buf, 0, latitude);
    _mav_put_int32_t(buf, 4, longitude);
    _mav_put_int32_t(buf, 8, altitude);
    _mav_put_float(buf, 12, x);
    _mav_put_float(buf, 16, y);
    _mav_put_float(buf, 20, z);
    _mav_put_float(buf, 40, approach_x);
    _mav_put_float(buf, 44, approach_y);
    _mav_put_float(buf, 48, approach_z);
    _mav_put_uint64_t(buf, 52, time_usec);
    _mav_put_float_array(buf, 24, q, 4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#else
    mavlink_home_position_t packet;
    packet.latitude = latitude;
    packet.longitude = longitude;
    packet.altitude = altitude;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.approach_x = approach_x;
    packet.approach_y = approach_y;
    packet.approach_z = approach_z;
    packet.time_usec = time_usec;
    mav_array_memcpy(packet.q, q, sizeof(float)*4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_HOME_POSITION;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
}

/**
 * @brief Pack a home_position 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 latitude [degE7] Latitude (WGS84)
 * @param longitude [degE7] Longitude (WGS84)
 * @param altitude [mm] Altitude (MSL). Positive for up.
 * @param x [m] Local X position of this position in the local coordinate frame (NED)
 * @param y [m] Local Y position of this position in the local coordinate frame (NED)
 * @param z [m] Local Z position of this position in the local coordinate frame (NED: positive "down")
 * @param q  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      
 * @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @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.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_home_position_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
    _mav_put_int32_t(buf, 0, latitude);
    _mav_put_int32_t(buf, 4, longitude);
    _mav_put_int32_t(buf, 8, altitude);
    _mav_put_float(buf, 12, x);
    _mav_put_float(buf, 16, y);
    _mav_put_float(buf, 20, z);
    _mav_put_float(buf, 40, approach_x);
    _mav_put_float(buf, 44, approach_y);
    _mav_put_float(buf, 48, approach_z);
    _mav_put_uint64_t(buf, 52, time_usec);
    _mav_put_float_array(buf, 24, q, 4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#else
    mavlink_home_position_t packet;
    packet.latitude = latitude;
    packet.longitude = longitude;
    packet.altitude = altitude;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.approach_x = approach_x;
    packet.approach_y = approach_y;
    packet.approach_z = approach_z;
    packet.time_usec = time_usec;
    mav_array_memcpy(packet.q, q, sizeof(float)*4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_HOME_POSITION;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#endif
}

/**
 * @brief Pack a home_position 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 latitude [degE7] Latitude (WGS84)
 * @param longitude [degE7] Longitude (WGS84)
 * @param altitude [mm] Altitude (MSL). Positive for up.
 * @param x [m] Local X position of this position in the local coordinate frame (NED)
 * @param y [m] Local Y position of this position in the local coordinate frame (NED)
 * @param z [m] Local Z position of this position in the local coordinate frame (NED: positive "down")
 * @param q  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      
 * @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @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.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z,uint64_t time_usec)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
    _mav_put_int32_t(buf, 0, latitude);
    _mav_put_int32_t(buf, 4, longitude);
    _mav_put_int32_t(buf, 8, altitude);
    _mav_put_float(buf, 12, x);
    _mav_put_float(buf, 16, y);
    _mav_put_float(buf, 20, z);
    _mav_put_float(buf, 40, approach_x);
    _mav_put_float(buf, 44, approach_y);
    _mav_put_float(buf, 48, approach_z);
    _mav_put_uint64_t(buf, 52, time_usec);
    _mav_put_float_array(buf, 24, q, 4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#else
    mavlink_home_position_t packet;
    packet.latitude = latitude;
    packet.longitude = longitude;
    packet.altitude = altitude;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.approach_x = approach_x;
    packet.approach_y = approach_y;
    packet.approach_z = approach_z;
    packet.time_usec = time_usec;
    mav_array_memcpy(packet.q, q, sizeof(float)*4);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HOME_POSITION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_HOME_POSITION;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
}

/**
 * @brief Encode a home_position 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 home_position C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_home_position_t* home_position)
{
    return mavlink_msg_home_position_pack(system_id, component_id, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
}

/**
 * @brief Encode a home_position 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 home_position C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_home_position_t* home_position)
{
    return mavlink_msg_home_position_pack_chan(system_id, component_id, chan, msg, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
}

/**
 * @brief Encode a home_position 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 home_position C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_home_position_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_home_position_t* home_position)
{
    return mavlink_msg_home_position_pack_status(system_id, component_id, _status, msg,  home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
}

/**
 * @brief Send a home_position message
 * @param chan MAVLink channel to send the message
 *
 * @param latitude [degE7] Latitude (WGS84)
 * @param longitude [degE7] Longitude (WGS84)
 * @param altitude [mm] Altitude (MSL). Positive for up.
 * @param x [m] Local X position of this position in the local coordinate frame (NED)
 * @param y [m] Local Y position of this position in the local coordinate frame (NED)
 * @param z [m] Local Z position of this position in the local coordinate frame (NED: positive "down")
 * @param q  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      
 * @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 * @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.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_home_position_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_HOME_POSITION_LEN];
    _mav_put_int32_t(buf, 0, latitude);
    _mav_put_int32_t(buf, 4, longitude);
    _mav_put_int32_t(buf, 8, altitude);
    _mav_put_float(buf, 12, x);
    _mav_put_float(buf, 16, y);
    _mav_put_float(buf, 20, z);
    _mav_put_float(buf, 40, approach_x);
    _mav_put_float(buf, 44, approach_y);
    _mav_put_float(buf, 48, approach_z);
    _mav_put_uint64_t(buf, 52, time_usec);
    _mav_put_float_array(buf, 24, q, 4);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, buf, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#else
    mavlink_home_position_t packet;
    packet.latitude = latitude;
    packet.longitude = longitude;
    packet.altitude = altitude;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.approach_x = approach_x;
    packet.approach_y = approach_y;
    packet.approach_z = approach_z;
    packet.time_usec = time_usec;
    mav_array_memcpy(packet.q, q, sizeof(float)*4);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#endif
}

/**
 * @brief Send a home_position message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_home_position_send_struct(mavlink_channel_t chan, const mavlink_home_position_t* home_position)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_home_position_send(chan, home_position->latitude, home_position->longitude, home_position->altitude, home_position->x, home_position->y, home_position->z, home_position->q, home_position->approach_x, home_position->approach_y, home_position->approach_z, home_position->time_usec);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)home_position, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#endif
}

#if MAVLINK_MSG_ID_HOME_POSITION_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_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z, uint64_t time_usec)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_int32_t(buf, 0, latitude);
    _mav_put_int32_t(buf, 4, longitude);
    _mav_put_int32_t(buf, 8, altitude);
    _mav_put_float(buf, 12, x);
    _mav_put_float(buf, 16, y);
    _mav_put_float(buf, 20, z);
    _mav_put_float(buf, 40, approach_x);
    _mav_put_float(buf, 44, approach_y);
    _mav_put_float(buf, 48, approach_z);
    _mav_put_uint64_t(buf, 52, time_usec);
    _mav_put_float_array(buf, 24, q, 4);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, buf, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#else
    mavlink_home_position_t *packet = (mavlink_home_position_t *)msgbuf;
    packet->latitude = latitude;
    packet->longitude = longitude;
    packet->altitude = altitude;
    packet->x = x;
    packet->y = y;
    packet->z = z;
    packet->approach_x = approach_x;
    packet->approach_y = approach_y;
    packet->approach_z = approach_z;
    packet->time_usec = time_usec;
    mav_array_memcpy(packet->q, q, sizeof(float)*4);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_HOME_POSITION_LEN, MAVLINK_MSG_ID_HOME_POSITION_CRC);
#endif
}
#endif

#endif

// MESSAGE HOME_POSITION UNPACKING


/**
 * @brief Get field latitude from home_position message
 *
 * @return [degE7] Latitude (WGS84)
 */
static inline int32_t mavlink_msg_home_position_get_latitude(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  0);
}

/**
 * @brief Get field longitude from home_position message
 *
 * @return [degE7] Longitude (WGS84)
 */
static inline int32_t mavlink_msg_home_position_get_longitude(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  4);
}

/**
 * @brief Get field altitude from home_position message
 *
 * @return [mm] Altitude (MSL). Positive for up.
 */
static inline int32_t mavlink_msg_home_position_get_altitude(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  8);
}

/**
 * @brief Get field x from home_position message
 *
 * @return [m] Local X position of this position in the local coordinate frame (NED)
 */
static inline float mavlink_msg_home_position_get_x(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field y from home_position message
 *
 * @return [m] Local Y position of this position in the local coordinate frame (NED)
 */
static inline float mavlink_msg_home_position_get_y(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field z from home_position message
 *
 * @return [m] Local Z position of this position in the local coordinate frame (NED: positive "down")
 */
static inline float mavlink_msg_home_position_get_z(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field q from home_position message
 *
 * @return  
        Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
        Used to indicate the heading and slope of the ground.
        All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
      
 */
static inline uint16_t mavlink_msg_home_position_get_q(const mavlink_message_t* msg, float *q)
{
    return _MAV_RETURN_float_array(msg, q, 4,  24);
}

/**
 * @brief Get field approach_x from home_position message
 *
 * @return [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 */
static inline float mavlink_msg_home_position_get_approach_x(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  40);
}

/**
 * @brief Get field approach_y from home_position message
 *
 * @return [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 */
static inline float mavlink_msg_home_position_get_approach_y(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  44);
}

/**
 * @brief Get field approach_z from home_position message
 *
 * @return [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
 */
static inline float mavlink_msg_home_position_get_approach_z(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  48);
}

/**
 * @brief Get field time_usec from home_position 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_home_position_get_time_usec(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint64_t(msg,  52);
}

/**
 * @brief Decode a home_position message into a struct
 *
 * @param msg The message to decode
 * @param home_position C-struct to decode the message contents into
 */
static inline void mavlink_msg_home_position_decode(const mavlink_message_t* msg, mavlink_home_position_t* home_position)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    home_position->latitude = mavlink_msg_home_position_get_latitude(msg);
    home_position->longitude = mavlink_msg_home_position_get_longitude(msg);
    home_position->altitude = mavlink_msg_home_position_get_altitude(msg);
    home_position->x = mavlink_msg_home_position_get_x(msg);
    home_position->y = mavlink_msg_home_position_get_y(msg);
    home_position->z = mavlink_msg_home_position_get_z(msg);
    mavlink_msg_home_position_get_q(msg, home_position->q);
    home_position->approach_x = mavlink_msg_home_position_get_approach_x(msg);
    home_position->approach_y = mavlink_msg_home_position_get_approach_y(msg);
    home_position->approach_z = mavlink_msg_home_position_get_approach_z(msg);
    home_position->time_usec = mavlink_msg_home_position_get_time_usec(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_HOME_POSITION_LEN;
        memset(home_position, 0, MAVLINK_MSG_ID_HOME_POSITION_LEN);
    memcpy(home_position, _MAV_PAYLOAD(msg), len);
#endif
}