#pragma once
// MESSAGE FW_FOLLOW PACKING

#define MAVLINK_MSG_ID_FW_FOLLOW 145


typedef struct __mavlink_fw_follow_t {
 uint32_t timestamp; /*< [ms] Timestamp (time since system boot).*/
 int32_t lat; /*< [degE7] Latitude (WGS84)*/
 int32_t lon; /*< [degE7] Longitude (WGS84)*/
 float vel[2]; /*< [m/s] target velocity (0,0) for unknown*/
 float attitude[2]; /*<  (roll yaw for unknown)*/
 uint8_t custom_state; /*<  button states or switches of a tracker device*/
} mavlink_fw_follow_t;

#define MAVLINK_MSG_ID_FW_FOLLOW_LEN 29
#define MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN 29
#define MAVLINK_MSG_ID_145_LEN 29
#define MAVLINK_MSG_ID_145_MIN_LEN 29

#define MAVLINK_MSG_ID_FW_FOLLOW_CRC 145
#define MAVLINK_MSG_ID_145_CRC 145

#define MAVLINK_MSG_FW_FOLLOW_FIELD_VEL_LEN 2
#define MAVLINK_MSG_FW_FOLLOW_FIELD_ATTITUDE_LEN 2

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_FW_FOLLOW { \
    145, \
    "FW_FOLLOW", \
    6, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fw_follow_t, timestamp) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_fw_follow_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_fw_follow_t, lon) }, \
         { "vel", NULL, MAVLINK_TYPE_FLOAT, 2, 12, offsetof(mavlink_fw_follow_t, vel) }, \
         { "attitude", NULL, MAVLINK_TYPE_FLOAT, 2, 20, offsetof(mavlink_fw_follow_t, attitude) }, \
         { "custom_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_fw_follow_t, custom_state) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_FW_FOLLOW { \
    "FW_FOLLOW", \
    6, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fw_follow_t, timestamp) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_fw_follow_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_fw_follow_t, lon) }, \
         { "vel", NULL, MAVLINK_TYPE_FLOAT, 2, 12, offsetof(mavlink_fw_follow_t, vel) }, \
         { "attitude", NULL, MAVLINK_TYPE_FLOAT, 2, 20, offsetof(mavlink_fw_follow_t, attitude) }, \
         { "custom_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_fw_follow_t, custom_state) }, \
         } \
}
#endif

/**
 * @brief Pack a fw_follow 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 timestamp [ms] Timestamp (time since system boot).
 * @param lat [degE7] Latitude (WGS84)
 * @param lon [degE7] Longitude (WGS84)
 * @param vel [m/s] target velocity (0,0) for unknown
 * @param attitude  (roll yaw for unknown)
 * @param custom_state  button states or switches of a tracker device
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_fw_follow_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint32_t timestamp, int32_t lat, int32_t lon, const float *vel, const float *attitude, uint8_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_FW_FOLLOW_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 4, lat);
    _mav_put_int32_t(buf, 8, lon);
    _mav_put_uint8_t(buf, 28, custom_state);
    _mav_put_float_array(buf, 12, vel, 2);
    _mav_put_float_array(buf, 20, attitude, 2);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_FOLLOW_LEN);
#else
    mavlink_fw_follow_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.custom_state = custom_state;
    mav_array_memcpy(packet.vel, vel, sizeof(float)*2);
    mav_array_memcpy(packet.attitude, attitude, sizeof(float)*2);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_FOLLOW_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_FW_FOLLOW;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
}

/**
 * @brief Pack a fw_follow 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 timestamp [ms] Timestamp (time since system boot).
 * @param lat [degE7] Latitude (WGS84)
 * @param lon [degE7] Longitude (WGS84)
 * @param vel [m/s] target velocity (0,0) for unknown
 * @param attitude  (roll yaw for unknown)
 * @param custom_state  button states or switches of a tracker device
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_fw_follow_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint32_t timestamp,int32_t lat,int32_t lon,const float *vel,const float *attitude,uint8_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_FW_FOLLOW_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 4, lat);
    _mav_put_int32_t(buf, 8, lon);
    _mav_put_uint8_t(buf, 28, custom_state);
    _mav_put_float_array(buf, 12, vel, 2);
    _mav_put_float_array(buf, 20, attitude, 2);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_FOLLOW_LEN);
#else
    mavlink_fw_follow_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.custom_state = custom_state;
    mav_array_memcpy(packet.vel, vel, sizeof(float)*2);
    mav_array_memcpy(packet.attitude, attitude, sizeof(float)*2);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_FOLLOW_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_FW_FOLLOW;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
}

/**
 * @brief Encode a fw_follow 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 fw_follow C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_fw_follow_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fw_follow_t* fw_follow)
{
    return mavlink_msg_fw_follow_pack(system_id, component_id, msg, fw_follow->timestamp, fw_follow->lat, fw_follow->lon, fw_follow->vel, fw_follow->attitude, fw_follow->custom_state);
}

/**
 * @brief Encode a fw_follow 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 fw_follow C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_fw_follow_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fw_follow_t* fw_follow)
{
    return mavlink_msg_fw_follow_pack_chan(system_id, component_id, chan, msg, fw_follow->timestamp, fw_follow->lat, fw_follow->lon, fw_follow->vel, fw_follow->attitude, fw_follow->custom_state);
}

/**
 * @brief Send a fw_follow message
 * @param chan MAVLink channel to send the message
 *
 * @param timestamp [ms] Timestamp (time since system boot).
 * @param lat [degE7] Latitude (WGS84)
 * @param lon [degE7] Longitude (WGS84)
 * @param vel [m/s] target velocity (0,0) for unknown
 * @param attitude  (roll yaw for unknown)
 * @param custom_state  button states or switches of a tracker device
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_fw_follow_send(mavlink_channel_t chan, uint32_t timestamp, int32_t lat, int32_t lon, const float *vel, const float *attitude, uint8_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_FW_FOLLOW_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 4, lat);
    _mav_put_int32_t(buf, 8, lon);
    _mav_put_uint8_t(buf, 28, custom_state);
    _mav_put_float_array(buf, 12, vel, 2);
    _mav_put_float_array(buf, 20, attitude, 2);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_FOLLOW, buf, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
#else
    mavlink_fw_follow_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.custom_state = custom_state;
    mav_array_memcpy(packet.vel, vel, sizeof(float)*2);
    mav_array_memcpy(packet.attitude, attitude, sizeof(float)*2);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_FOLLOW, (const char *)&packet, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
#endif
}

/**
 * @brief Send a fw_follow message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_fw_follow_send_struct(mavlink_channel_t chan, const mavlink_fw_follow_t* fw_follow)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_fw_follow_send(chan, fw_follow->timestamp, fw_follow->lat, fw_follow->lon, fw_follow->vel, fw_follow->attitude, fw_follow->custom_state);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_FOLLOW, (const char *)fw_follow, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
#endif
}

#if MAVLINK_MSG_ID_FW_FOLLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient 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_fw_follow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, int32_t lat, int32_t lon, const float *vel, const float *attitude, uint8_t custom_state)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 4, lat);
    _mav_put_int32_t(buf, 8, lon);
    _mav_put_uint8_t(buf, 28, custom_state);
    _mav_put_float_array(buf, 12, vel, 2);
    _mav_put_float_array(buf, 20, attitude, 2);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_FOLLOW, buf, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
#else
    mavlink_fw_follow_t *packet = (mavlink_fw_follow_t *)msgbuf;
    packet->timestamp = timestamp;
    packet->lat = lat;
    packet->lon = lon;
    packet->custom_state = custom_state;
    mav_array_memcpy(packet->vel, vel, sizeof(float)*2);
    mav_array_memcpy(packet->attitude, attitude, sizeof(float)*2);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_FOLLOW, (const char *)packet, MAVLINK_MSG_ID_FW_FOLLOW_MIN_LEN, MAVLINK_MSG_ID_FW_FOLLOW_LEN, MAVLINK_MSG_ID_FW_FOLLOW_CRC);
#endif
}
#endif

#endif

// MESSAGE FW_FOLLOW UNPACKING


/**
 * @brief Get field timestamp from fw_follow message
 *
 * @return [ms] Timestamp (time since system boot).
 */
static inline uint32_t mavlink_msg_fw_follow_get_timestamp(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  0);
}

/**
 * @brief Get field lat from fw_follow message
 *
 * @return [degE7] Latitude (WGS84)
 */
static inline int32_t mavlink_msg_fw_follow_get_lat(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  4);
}

/**
 * @brief Get field lon from fw_follow message
 *
 * @return [degE7] Longitude (WGS84)
 */
static inline int32_t mavlink_msg_fw_follow_get_lon(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  8);
}

/**
 * @brief Get field vel from fw_follow message
 *
 * @return [m/s] target velocity (0,0) for unknown
 */
static inline uint16_t mavlink_msg_fw_follow_get_vel(const mavlink_message_t* msg, float *vel)
{
    return _MAV_RETURN_float_array(msg, vel, 2,  12);
}

/**
 * @brief Get field attitude from fw_follow message
 *
 * @return  (roll yaw for unknown)
 */
static inline uint16_t mavlink_msg_fw_follow_get_attitude(const mavlink_message_t* msg, float *attitude)
{
    return _MAV_RETURN_float_array(msg, attitude, 2,  20);
}

/**
 * @brief Get field custom_state from fw_follow message
 *
 * @return  button states or switches of a tracker device
 */
static inline uint8_t mavlink_msg_fw_follow_get_custom_state(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  28);
}

/**
 * @brief Decode a fw_follow message into a struct
 *
 * @param msg The message to decode
 * @param fw_follow C-struct to decode the message contents into
 */
static inline void mavlink_msg_fw_follow_decode(const mavlink_message_t* msg, mavlink_fw_follow_t* fw_follow)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    fw_follow->timestamp = mavlink_msg_fw_follow_get_timestamp(msg);
    fw_follow->lat = mavlink_msg_fw_follow_get_lat(msg);
    fw_follow->lon = mavlink_msg_fw_follow_get_lon(msg);
    mavlink_msg_fw_follow_get_vel(msg, fw_follow->vel);
    mavlink_msg_fw_follow_get_attitude(msg, fw_follow->attitude);
    fw_follow->custom_state = mavlink_msg_fw_follow_get_custom_state(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_FW_FOLLOW_LEN? msg->len : MAVLINK_MSG_ID_FW_FOLLOW_LEN;
        memset(fw_follow, 0, MAVLINK_MSG_ID_FW_FOLLOW_LEN);
    memcpy(fw_follow, _MAV_PAYLOAD(msg), len);
#endif
}