356 lines
20 KiB
C
356 lines
20 KiB
C
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#pragma once
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// MESSAGE GIMBAL_DEVICE_SET_ATTITUDE PACKING
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE 284
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typedef struct __mavlink_gimbal_device_set_attitude_t {
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float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)*/
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float angular_velocity_x; /*< [rad/s] X component of angular velocity, positive is banking to the right, NaN to be ignored.*/
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float angular_velocity_y; /*< [rad/s] Y component of angular velocity, positive is tilting up, NaN to be ignored.*/
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float angular_velocity_z; /*< [rad/s] Z component of angular velocity, positive is panning to the right, NaN to be ignored.*/
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uint16_t target_system; /*< System ID*/
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uint16_t flags; /*< Low level gimbal flags.*/
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uint8_t target_component; /*< Component ID*/
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} mavlink_gimbal_device_set_attitude_t;
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN 33
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN 33
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#define MAVLINK_MSG_ID_284_LEN 33
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#define MAVLINK_MSG_ID_284_MIN_LEN 33
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC 101
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#define MAVLINK_MSG_ID_284_CRC 101
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#define MAVLINK_MSG_GIMBAL_DEVICE_SET_ATTITUDE_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_SET_ATTITUDE { \
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284, \
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"GIMBAL_DEVICE_SET_ATTITUDE", \
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7, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gimbal_device_set_attitude_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gimbal_device_set_attitude_t, target_component) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gimbal_device_set_attitude_t, flags) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 0, offsetof(mavlink_gimbal_device_set_attitude_t, q) }, \
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{ "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_x) }, \
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{ "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_y) }, \
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{ "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_z) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_SET_ATTITUDE { \
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"GIMBAL_DEVICE_SET_ATTITUDE", \
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7, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gimbal_device_set_attitude_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gimbal_device_set_attitude_t, target_component) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gimbal_device_set_attitude_t, flags) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 0, offsetof(mavlink_gimbal_device_set_attitude_t, q) }, \
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{ "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_x) }, \
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{ "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_y) }, \
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{ "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_set_attitude_t, angular_velocity_z) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gimbal_device_set_attitude message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param flags Low level gimbal flags.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)
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* @param angular_velocity_x [rad/s] X component of angular velocity, positive is banking to the right, NaN to be ignored.
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* @param angular_velocity_y [rad/s] Y component of angular velocity, positive is tilting up, NaN to be ignored.
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* @param angular_velocity_z [rad/s] Z component of angular velocity, positive is panning to the right, NaN to be ignored.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t target_system, uint8_t target_component, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN];
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_mav_put_float(buf, 16, angular_velocity_x);
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_mav_put_float(buf, 20, angular_velocity_y);
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_mav_put_float(buf, 24, angular_velocity_z);
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_mav_put_uint16_t(buf, 28, target_system);
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_mav_put_uint16_t(buf, 30, flags);
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_mav_put_uint8_t(buf, 32, target_component);
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_mav_put_float_array(buf, 0, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN);
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#else
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mavlink_gimbal_device_set_attitude_t packet;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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}
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/**
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* @brief Pack a gimbal_device_set_attitude message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID
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* @param target_component Component ID
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* @param flags Low level gimbal flags.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)
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* @param angular_velocity_x [rad/s] X component of angular velocity, positive is banking to the right, NaN to be ignored.
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* @param angular_velocity_y [rad/s] Y component of angular velocity, positive is tilting up, NaN to be ignored.
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* @param angular_velocity_z [rad/s] Z component of angular velocity, positive is panning to the right, NaN to be ignored.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint16_t target_system,uint8_t target_component,uint16_t flags,const float *q,float angular_velocity_x,float angular_velocity_y,float angular_velocity_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN];
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_mav_put_float(buf, 16, angular_velocity_x);
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_mav_put_float(buf, 20, angular_velocity_y);
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_mav_put_float(buf, 24, angular_velocity_z);
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_mav_put_uint16_t(buf, 28, target_system);
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_mav_put_uint16_t(buf, 30, flags);
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_mav_put_uint8_t(buf, 32, target_component);
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_mav_put_float_array(buf, 0, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN);
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#else
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mavlink_gimbal_device_set_attitude_t packet;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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}
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/**
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* @brief Encode a gimbal_device_set_attitude struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_device_set_attitude C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_device_set_attitude_t* gimbal_device_set_attitude)
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{
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return mavlink_msg_gimbal_device_set_attitude_pack(system_id, component_id, msg, gimbal_device_set_attitude->target_system, gimbal_device_set_attitude->target_component, gimbal_device_set_attitude->flags, gimbal_device_set_attitude->q, gimbal_device_set_attitude->angular_velocity_x, gimbal_device_set_attitude->angular_velocity_y, gimbal_device_set_attitude->angular_velocity_z);
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}
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/**
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* @brief Encode a gimbal_device_set_attitude struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_device_set_attitude C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_device_set_attitude_t* gimbal_device_set_attitude)
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{
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return mavlink_msg_gimbal_device_set_attitude_pack_chan(system_id, component_id, chan, msg, gimbal_device_set_attitude->target_system, gimbal_device_set_attitude->target_component, gimbal_device_set_attitude->flags, gimbal_device_set_attitude->q, gimbal_device_set_attitude->angular_velocity_x, gimbal_device_set_attitude->angular_velocity_y, gimbal_device_set_attitude->angular_velocity_z);
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}
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/**
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* @brief Send a gimbal_device_set_attitude message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param flags Low level gimbal flags.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)
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* @param angular_velocity_x [rad/s] X component of angular velocity, positive is banking to the right, NaN to be ignored.
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* @param angular_velocity_y [rad/s] Y component of angular velocity, positive is tilting up, NaN to be ignored.
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* @param angular_velocity_z [rad/s] Z component of angular velocity, positive is panning to the right, NaN to be ignored.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_device_set_attitude_send(mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN];
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_mav_put_float(buf, 16, angular_velocity_x);
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_mav_put_float(buf, 20, angular_velocity_y);
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_mav_put_float(buf, 24, angular_velocity_z);
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_mav_put_uint16_t(buf, 28, target_system);
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_mav_put_uint16_t(buf, 30, flags);
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_mav_put_uint8_t(buf, 32, target_component);
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_mav_put_float_array(buf, 0, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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#else
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mavlink_gimbal_device_set_attitude_t packet;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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#endif
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}
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/**
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* @brief Send a gimbal_device_set_attitude message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_gimbal_device_set_attitude_send_struct(mavlink_channel_t chan, const mavlink_gimbal_device_set_attitude_t* gimbal_device_set_attitude)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_gimbal_device_set_attitude_send(chan, gimbal_device_set_attitude->target_system, gimbal_device_set_attitude->target_component, gimbal_device_set_attitude->flags, gimbal_device_set_attitude->q, gimbal_device_set_attitude->angular_velocity_x, gimbal_device_set_attitude->angular_velocity_y, gimbal_device_set_attitude->angular_velocity_z);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE, (const char *)gimbal_device_set_attitude, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_gimbal_device_set_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_float(buf, 16, angular_velocity_x);
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_mav_put_float(buf, 20, angular_velocity_y);
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_mav_put_float(buf, 24, angular_velocity_z);
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_mav_put_uint16_t(buf, 28, target_system);
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_mav_put_uint16_t(buf, 30, flags);
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_mav_put_uint8_t(buf, 32, target_component);
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_mav_put_float_array(buf, 0, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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#else
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mavlink_gimbal_device_set_attitude_t *packet = (mavlink_gimbal_device_set_attitude_t *)msgbuf;
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packet->angular_velocity_x = angular_velocity_x;
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packet->angular_velocity_y = angular_velocity_y;
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packet->angular_velocity_z = angular_velocity_z;
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packet->target_system = target_system;
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packet->flags = flags;
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packet->target_component = target_component;
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE GIMBAL_DEVICE_SET_ATTITUDE UNPACKING
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/**
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* @brief Get field target_system from gimbal_device_set_attitude message
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*
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* @return System ID
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 28);
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}
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/**
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* @brief Get field target_component from gimbal_device_set_attitude message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_gimbal_device_set_attitude_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 32);
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}
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/**
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* @brief Get field flags from gimbal_device_set_attitude message
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*
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* @return Low level gimbal flags.
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_get_flags(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 30);
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}
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/**
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* @brief Get field q from gimbal_device_set_attitude message
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*
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* @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)
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*/
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static inline uint16_t mavlink_msg_gimbal_device_set_attitude_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 0);
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}
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/**
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* @brief Get field angular_velocity_x from gimbal_device_set_attitude message
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*
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* @return [rad/s] X component of angular velocity, positive is banking to the right, NaN to be ignored.
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*/
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static inline float mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field angular_velocity_y from gimbal_device_set_attitude message
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*
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* @return [rad/s] Y component of angular velocity, positive is tilting up, NaN to be ignored.
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*/
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static inline float mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field angular_velocity_z from gimbal_device_set_attitude message
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*
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* @return [rad/s] Z component of angular velocity, positive is panning to the right, NaN to be ignored.
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*/
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static inline float mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Decode a gimbal_device_set_attitude message into a struct
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*
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* @param msg The message to decode
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* @param gimbal_device_set_attitude C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gimbal_device_set_attitude_decode(const mavlink_message_t* msg, mavlink_gimbal_device_set_attitude_t* gimbal_device_set_attitude)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_gimbal_device_set_attitude_get_q(msg, gimbal_device_set_attitude->q);
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gimbal_device_set_attitude->angular_velocity_x = mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_x(msg);
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gimbal_device_set_attitude->angular_velocity_y = mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_y(msg);
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gimbal_device_set_attitude->angular_velocity_z = mavlink_msg_gimbal_device_set_attitude_get_angular_velocity_z(msg);
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gimbal_device_set_attitude->target_system = mavlink_msg_gimbal_device_set_attitude_get_target_system(msg);
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gimbal_device_set_attitude->flags = mavlink_msg_gimbal_device_set_attitude_get_flags(msg);
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gimbal_device_set_attitude->target_component = mavlink_msg_gimbal_device_set_attitude_get_target_component(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN;
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memset(gimbal_device_set_attitude, 0, MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN);
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memcpy(gimbal_device_set_attitude, _MAV_PAYLOAD(msg), len);
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#endif
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}
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