msg_set_position_target_global_int.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

// MESSAGE SET_POSITION_TARGET_GLOBAL_INT PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system.
*/
public class msg_set_position_target_global_int extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT = 86;
    public static final int MAVLINK_MSG_LENGTH = 53;
    private static final long serialVersionUID = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;


    
    /**
    * Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    */
    public long time_boot_ms;
    
    /**
    * X Position in WGS84 frame in 1e7 * meters
    */
    public int lat_int;
    
    /**
    * Y Position in WGS84 frame in 1e7 * meters
    */
    public int lon_int;
    
    /**
    * Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
    */
    public float alt;
    
    /**
    * X velocity in NED frame in meter / s
    */
    public float vx;
    
    /**
    * Y velocity in NED frame in meter / s
    */
    public float vy;
    
    /**
    * Z velocity in NED frame in meter / s
    */
    public float vz;
    
    /**
    * X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    */
    public float afx;
    
    /**
    * Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    */
    public float afy;
    
    /**
    * Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    */
    public float afz;
    
    /**
    * yaw setpoint in rad
    */
    public float yaw;
    
    /**
    * yaw rate setpoint in rad/s
    */
    public float yaw_rate;
    
    /**
    * Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
    */
    public int type_mask;
    
    /**
    * System ID
    */
    public short target_system;
    
    /**
    * Component ID
    */
    public short target_component;
    
    /**
    * Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
    */
    public short coordinate_frame;
    

    /**
    * Generates the payload for a mavlink message for a message of this type
    * @return
    */
    public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
        
        packet.payload.putUnsignedInt(time_boot_ms);
        
        packet.payload.putInt(lat_int);
        
        packet.payload.putInt(lon_int);
        
        packet.payload.putFloat(alt);
        
        packet.payload.putFloat(vx);
        
        packet.payload.putFloat(vy);
        
        packet.payload.putFloat(vz);
        
        packet.payload.putFloat(afx);
        
        packet.payload.putFloat(afy);
        
        packet.payload.putFloat(afz);
        
        packet.payload.putFloat(yaw);
        
        packet.payload.putFloat(yaw_rate);
        
        packet.payload.putUnsignedShort(type_mask);
        
        packet.payload.putUnsignedByte(target_system);
        
        packet.payload.putUnsignedByte(target_component);
        
        packet.payload.putUnsignedByte(coordinate_frame);
        
        return packet;
    }

    /**
    * Decode a set_position_target_global_int message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_boot_ms = payload.getUnsignedInt();
        
        this.lat_int = payload.getInt();
        
        this.lon_int = payload.getInt();
        
        this.alt = payload.getFloat();
        
        this.vx = payload.getFloat();
        
        this.vy = payload.getFloat();
        
        this.vz = payload.getFloat();
        
        this.afx = payload.getFloat();
        
        this.afy = payload.getFloat();
        
        this.afz = payload.getFloat();
        
        this.yaw = payload.getFloat();
        
        this.yaw_rate = payload.getFloat();
        
        this.type_mask = payload.getUnsignedShort();
        
        this.target_system = payload.getUnsignedByte();
        
        this.target_component = payload.getUnsignedByte();
        
        this.coordinate_frame = payload.getUnsignedByte();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_set_position_target_global_int(){
        msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_set_position_target_global_int(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT;
        unpack(mavLinkPacket.payload);
    }

                                    
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT -"+" time_boot_ms:"+time_boot_ms+" lat_int:"+lat_int+" lon_int:"+lon_int+" alt:"+alt+" vx:"+vx+" vy:"+vy+" vz:"+vz+" afx:"+afx+" afy:"+afy+" afz:"+afz+" yaw:"+yaw+" yaw_rate:"+yaw_rate+" type_mask:"+type_mask+" target_system:"+target_system+" target_component:"+target_component+" coordinate_frame:"+coordinate_frame+"";
    }
}