Ardupilot2/libraries/GCS_MAVLink/include/common/mavlink_msg_vfr_hud.h

// MESSAGE VFR_HUD PACKING

#define MAVLINK_MSG_ID_VFR_HUD 74

typedef struct __mavlink_vfr_hud_t 
{
	float airspeed; ///< Current airspeed in m/s
	float groundspeed; ///< Current ground speed in m/s
	int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
	uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
	float alt; ///< Current altitude (MSL), in meters
	float climb; ///< Current climb rate in meters/second

} mavlink_vfr_hud_t;



/**
 * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
 * @param groundspeed Current ground speed in m/s
 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
 * @param throttle Current throttle setting in integer percent, 0 to 100
 * @param alt Current altitude (MSL), in meters
 * @param climb Current climb rate in meters/second
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_VFR_HUD;

	i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
	i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
	i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
	i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
	i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
	i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

/**
 * @brief Pack a vfr_hud message
 * @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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param airspeed Current airspeed in m/s
 * @param groundspeed Current ground speed in m/s
 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
 * @param throttle Current throttle setting in integer percent, 0 to 100
 * @param alt Current altitude (MSL), in meters
 * @param climb Current climb rate in meters/second
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_VFR_HUD;

	i += put_float_by_index(airspeed, i, msg->payload); // Current airspeed in m/s
	i += put_float_by_index(groundspeed, i, msg->payload); // Current ground speed in m/s
	i += put_int16_t_by_index(heading, i, msg->payload); // Current heading in degrees, in compass units (0..360, 0=north)
	i += put_uint16_t_by_index(throttle, i, msg->payload); // Current throttle setting in integer percent, 0 to 100
	i += put_float_by_index(alt, i, msg->payload); // Current altitude (MSL), in meters
	i += put_float_by_index(climb, i, msg->payload); // Current climb rate in meters/second

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

/**
 * @brief Encode a vfr_hud struct into a 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 vfr_hud C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
{
	return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
}

/**
 * @brief Send a vfr_hud message
 * @param chan MAVLink channel to send the message
 *
 * @param airspeed Current airspeed in m/s
 * @param groundspeed Current ground speed in m/s
 * @param heading Current heading in degrees, in compass units (0..360, 0=north)
 * @param throttle Current throttle setting in integer percent, 0 to 100
 * @param alt Current altitude (MSL), in meters
 * @param climb Current climb rate in meters/second
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
{
	mavlink_message_t msg;
	mavlink_msg_vfr_hud_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, airspeed, groundspeed, heading, throttle, alt, climb);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE VFR_HUD UNPACKING

/**
 * @brief Get field airspeed from vfr_hud message
 *
 * @return Current airspeed in m/s
 */
static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload)[0];
	r.b[2] = (msg->payload)[1];
	r.b[1] = (msg->payload)[2];
	r.b[0] = (msg->payload)[3];
	return (float)r.f;
}

/**
 * @brief Get field groundspeed from vfr_hud message
 *
 * @return Current ground speed in m/s
 */
static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Get field heading from vfr_hud message
 *
 * @return Current heading in degrees, in compass units (0..360, 0=north)
 */
static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
{
	generic_16bit r;
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[0];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[1];
	return (int16_t)r.s;
}

/**
 * @brief Get field throttle from vfr_hud message
 *
 * @return Current throttle setting in integer percent, 0 to 100
 */
static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
{
	generic_16bit r;
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[0];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t))[1];
	return (uint16_t)r.s;
}

/**
 * @brief Get field alt from vfr_hud message
 *
 * @return Current altitude (MSL), in meters
 */
static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[0];
	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[1];
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[2];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t))[3];
	return (float)r.f;
}

/**
 * @brief Get field climb from vfr_hud message
 *
 * @return Current climb rate in meters/second
 */
static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
{
	generic_32bit r;
	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[0];
	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[1];
	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[2];
	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(int16_t)+sizeof(uint16_t)+sizeof(float))[3];
	return (float)r.f;
}

/**
 * @brief Decode a vfr_hud message into a struct
 *
 * @param msg The message to decode
 * @param vfr_hud C-struct to decode the message contents into
 */
static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
{
	vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
	vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
	vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
	vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
	vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
	vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
}