Diff: MAVlink/include/common/mavlink_msg_waypoint.h

Revision:

0:826c6171fc1b

diff -r 000000000000 -r 826c6171fc1b MAVlink/include/common/mavlink_msg_waypoint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_waypoint.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,360 @@
+// MESSAGE WAYPOINT PACKING
+
+#define MAVLINK_MSG_ID_WAYPOINT 39
+
+typedef struct __mavlink_waypoint_t 
+{
+	uint8_t target_system; ///< System ID
+	uint8_t target_component; ///< Component ID
+	uint16_t seq; ///< Sequence
+	uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+	uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+	uint8_t current; ///< false:0, true:1
+	uint8_t autocontinue; ///< autocontinue to next wp
+	float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+	float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+	float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+	float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+	float x; ///< PARAM5 / local: x position, global: latitude
+	float y; ///< PARAM6 / y position: global: longitude
+	float z; ///< PARAM7 / z position: global: altitude
+
+} mavlink_waypoint_t;
+
+
+
+/**
+ * @brief Pack a waypoint 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 target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
+
+	i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
+	i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
+	i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+	i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+	i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
+	i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
+	i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+	i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+	i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+	i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+	i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
+	i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
+	i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a waypoint 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 target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_waypoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
+
+	i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
+	i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
+	i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
+	i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+	i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+	i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
+	i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
+	i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+	i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+	i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+	i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+	i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
+	i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
+	i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a waypoint 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 waypoint C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)
+{
+	return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z);
+}
+
+/**
+ * @brief Send a waypoint message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target_system System ID
+ * @param target_component Component ID
+ * @param seq Sequence
+ * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+ * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+ * @param current false:0, true:1
+ * @param autocontinue autocontinue to next wp
+ * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+ * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @param x PARAM5 / local: x position, global: latitude
+ * @param y PARAM6 / y position: global: longitude
+ * @param z PARAM7 / z position: global: altitude
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
+{
+	mavlink_message_t msg;
+	mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE WAYPOINT UNPACKING
+
+/**
+ * @brief Get field target_system from waypoint message
+ *
+ * @return System ID
+ */
+static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field target_component from waypoint message
+ *
+ * @return Component ID
+ */
+static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field seq from waypoint message
+ *
+ * @return Sequence
+ */
+static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field frame from waypoint message
+ *
+ * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
+ */
+static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
+}
+
+/**
+ * @brief Get field command from waypoint message
+ *
+ * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
+ */
+static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field current from waypoint message
+ *
+ * @return false:0, true:1
+ */
+static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field autocontinue from waypoint message
+ *
+ * @return autocontinue to next wp
+ */
+static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field param1 from waypoint message
+ *
+ * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
+ */
+static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field param2 from waypoint message
+ *
+ * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ */
+static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field param3 from waypoint message
+ *
+ * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
+ */
+static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field param4 from waypoint message
+ *
+ * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
+ */
+static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field x from waypoint message
+ *
+ * @return PARAM5 / local: x position, global: latitude
+ */
+static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field y from waypoint message
+ *
+ * @return PARAM6 / y position: global: longitude
+ */
+static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field z from waypoint message
+ *
+ * @return PARAM7 / z position: global: altitude
+ */
+static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a waypoint message into a struct
+ *
+ * @param msg The message to decode
+ * @param waypoint C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)
+{
+	waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);
+	waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);
+	waypoint->seq = mavlink_msg_waypoint_get_seq(msg);
+	waypoint->frame = mavlink_msg_waypoint_get_frame(msg);
+	waypoint->command = mavlink_msg_waypoint_get_command(msg);
+	waypoint->current = mavlink_msg_waypoint_get_current(msg);
+	waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg);
+	waypoint->param1 = mavlink_msg_waypoint_get_param1(msg);
+	waypoint->param2 = mavlink_msg_waypoint_get_param2(msg);
+	waypoint->param3 = mavlink_msg_waypoint_get_param3(msg);
+	waypoint->param4 = mavlink_msg_waypoint_get_param4(msg);
+	waypoint->x = mavlink_msg_waypoint_get_x(msg);
+	waypoint->y = mavlink_msg_waypoint_get_y(msg);
+	waypoint->z = mavlink_msg_waypoint_get_z(msg);
+}