VK_Mavlink/v2.0/VKFly/mavlink_msg_vk_formation_leader.h

#pragma once
// MESSAGE VK_FORMATION_LEADER PACKING

#define MAVLINK_MSG_ID_VK_FORMATION_LEADER 53004

MAVPACKED(
typedef struct __mavlink_vk_formation_leader_t {
 uint32_t timestamp; /*< [ms] Timestamp in ms from system boot.*/
 uint32_t state; /*<  formation leader drone state bitmap*/
 int32_t lat; /*< [degE7] formation leader latitude in 1e-7deg */
 int32_t lon; /*< [degE7] formation leader longitude in 1e-7deg*/
 float msl; /*< [m] formation leader msl altitude in meter*/
 float ve; /*< [m/s] formation leader east speed*/
 float vn; /*< [m/s] formation leader north speed*/
 float vu; /*< [m/s] formation leader up speed*/
 float yaw; /*< [deg] formation leader yaw*/
 int16_t x_dist; /*< [cm] distance between drones in x axis*/
 int16_t y_dist; /*< [cm] distance between drones in y axis*/
 int16_t z_dist; /*< [cm] distance between drones in z axis*/
 uint16_t rect_col_num; /*<  columns number of rectangle formation*/
 uint8_t formation_type; /*<  formation type*/
 float formation_heading; /*< [deg] if nan, use yaw as formation heading*/
 float form_head_lock; /*<  0 unlock, 1 lock*/
 float ae; /*< [m/s/s] formation leader east acceleration*/
 float an; /*< [m/s/s] formation leader east acceleration*/
 float au; /*< [m/s/s] formation leader east acceleration*/
}) mavlink_vk_formation_leader_t;

#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN 65
#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN 45
#define MAVLINK_MSG_ID_53004_LEN 65
#define MAVLINK_MSG_ID_53004_MIN_LEN 45

#define MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC 219
#define MAVLINK_MSG_ID_53004_CRC 219



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
    53004, \
    "VK_FORMATION_LEADER", \
    19, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
         { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_vk_formation_leader_t, lon) }, \
         { "msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_formation_leader_t, msl) }, \
         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_formation_leader_t, ve) }, \
         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_formation_leader_t, vn) }, \
         { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vk_formation_leader_t, vu) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_vk_formation_leader_t, yaw) }, \
         { "formation_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_vk_formation_leader_t, formation_type) }, \
         { "x_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_vk_formation_leader_t, x_dist) }, \
         { "y_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_vk_formation_leader_t, y_dist) }, \
         { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
         { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
         { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
         { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
         { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vk_formation_leader_t, ae) }, \
         { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vk_formation_leader_t, an) }, \
         { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vk_formation_leader_t, au) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_VK_FORMATION_LEADER { \
    "VK_FORMATION_LEADER", \
    19, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_formation_leader_t, timestamp) }, \
         { "state", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_vk_formation_leader_t, state) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_vk_formation_leader_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_vk_formation_leader_t, lon) }, \
         { "msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vk_formation_leader_t, msl) }, \
         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vk_formation_leader_t, ve) }, \
         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vk_formation_leader_t, vn) }, \
         { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vk_formation_leader_t, vu) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_vk_formation_leader_t, yaw) }, \
         { "formation_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_vk_formation_leader_t, formation_type) }, \
         { "x_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_vk_formation_leader_t, x_dist) }, \
         { "y_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_vk_formation_leader_t, y_dist) }, \
         { "z_dist", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_vk_formation_leader_t, z_dist) }, \
         { "rect_col_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 42, offsetof(mavlink_vk_formation_leader_t, rect_col_num) }, \
         { "formation_heading", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vk_formation_leader_t, formation_heading) }, \
         { "form_head_lock", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vk_formation_leader_t, form_head_lock) }, \
         { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vk_formation_leader_t, ae) }, \
         { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vk_formation_leader_t, an) }, \
         { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vk_formation_leader_t, au) }, \
         } \
}
#endif

/**
 * @brief Pack a vk_formation_leader 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 in ms from system boot.
 * @param state  formation leader drone state bitmap
 * @param lat [degE7] formation leader latitude in 1e-7deg 
 * @param lon [degE7] formation leader longitude in 1e-7deg
 * @param msl [m] formation leader msl altitude in meter
 * @param ve [m/s] formation leader east speed
 * @param vn [m/s] formation leader north speed
 * @param vu [m/s] formation leader up speed
 * @param yaw [deg] formation leader yaw
 * @param formation_type  formation type
 * @param x_dist [cm] distance between drones in x axis
 * @param y_dist [cm] distance between drones in y axis
 * @param z_dist [cm] distance between drones in z axis
 * @param rect_col_num  columns number of rectangle formation
 * @param formation_heading [deg] if nan, use yaw as formation heading
 * @param form_head_lock  0 unlock, 1 lock
 * @param ae [m/s/s] formation leader east acceleration
 * @param an [m/s/s] formation leader east acceleration
 * @param au [m/s/s] formation leader east acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_formation_leader_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_uint32_t(buf, 4, state);
    _mav_put_int32_t(buf, 8, lat);
    _mav_put_int32_t(buf, 12, lon);
    _mav_put_float(buf, 16, msl);
    _mav_put_float(buf, 20, ve);
    _mav_put_float(buf, 24, vn);
    _mav_put_float(buf, 28, vu);
    _mav_put_float(buf, 32, yaw);
    _mav_put_int16_t(buf, 36, x_dist);
    _mav_put_int16_t(buf, 38, y_dist);
    _mav_put_int16_t(buf, 40, z_dist);
    _mav_put_uint16_t(buf, 42, rect_col_num);
    _mav_put_uint8_t(buf, 44, formation_type);
    _mav_put_float(buf, 45, formation_heading);
    _mav_put_float(buf, 49, form_head_lock);
    _mav_put_float(buf, 53, ae);
    _mav_put_float(buf, 57, an);
    _mav_put_float(buf, 61, au);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#else
    mavlink_vk_formation_leader_t packet;
    packet.timestamp = timestamp;
    packet.state = state;
    packet.lat = lat;
    packet.lon = lon;
    packet.msl = msl;
    packet.ve = ve;
    packet.vn = vn;
    packet.vu = vu;
    packet.yaw = yaw;
    packet.x_dist = x_dist;
    packet.y_dist = y_dist;
    packet.z_dist = z_dist;
    packet.rect_col_num = rect_col_num;
    packet.formation_type = formation_type;
    packet.formation_heading = formation_heading;
    packet.form_head_lock = form_head_lock;
    packet.ae = ae;
    packet.an = an;
    packet.au = au;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_FORMATION_LEADER;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
}

/**
 * @brief Pack a vk_formation_leader message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 *
 * @param timestamp [ms] Timestamp in ms from system boot.
 * @param state  formation leader drone state bitmap
 * @param lat [degE7] formation leader latitude in 1e-7deg 
 * @param lon [degE7] formation leader longitude in 1e-7deg
 * @param msl [m] formation leader msl altitude in meter
 * @param ve [m/s] formation leader east speed
 * @param vn [m/s] formation leader north speed
 * @param vu [m/s] formation leader up speed
 * @param yaw [deg] formation leader yaw
 * @param formation_type  formation type
 * @param x_dist [cm] distance between drones in x axis
 * @param y_dist [cm] distance between drones in y axis
 * @param z_dist [cm] distance between drones in z axis
 * @param rect_col_num  columns number of rectangle formation
 * @param formation_heading [deg] if nan, use yaw as formation heading
 * @param form_head_lock  0 unlock, 1 lock
 * @param ae [m/s/s] formation leader east acceleration
 * @param an [m/s/s] formation leader east acceleration
 * @param au [m/s/s] formation leader east acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_formation_leader_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_uint32_t(buf, 4, state);
    _mav_put_int32_t(buf, 8, lat);
    _mav_put_int32_t(buf, 12, lon);
    _mav_put_float(buf, 16, msl);
    _mav_put_float(buf, 20, ve);
    _mav_put_float(buf, 24, vn);
    _mav_put_float(buf, 28, vu);
    _mav_put_float(buf, 32, yaw);
    _mav_put_int16_t(buf, 36, x_dist);
    _mav_put_int16_t(buf, 38, y_dist);
    _mav_put_int16_t(buf, 40, z_dist);
    _mav_put_uint16_t(buf, 42, rect_col_num);
    _mav_put_uint8_t(buf, 44, formation_type);
    _mav_put_float(buf, 45, formation_heading);
    _mav_put_float(buf, 49, form_head_lock);
    _mav_put_float(buf, 53, ae);
    _mav_put_float(buf, 57, an);
    _mav_put_float(buf, 61, au);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#else
    mavlink_vk_formation_leader_t packet;
    packet.timestamp = timestamp;
    packet.state = state;
    packet.lat = lat;
    packet.lon = lon;
    packet.msl = msl;
    packet.ve = ve;
    packet.vn = vn;
    packet.vu = vu;
    packet.yaw = yaw;
    packet.x_dist = x_dist;
    packet.y_dist = y_dist;
    packet.z_dist = z_dist;
    packet.rect_col_num = rect_col_num;
    packet.formation_type = formation_type;
    packet.formation_heading = formation_heading;
    packet.form_head_lock = form_head_lock;
    packet.ae = ae;
    packet.an = an;
    packet.au = au;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_FORMATION_LEADER;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#endif
}

/**
 * @brief Pack a vk_formation_leader 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 in ms from system boot.
 * @param state  formation leader drone state bitmap
 * @param lat [degE7] formation leader latitude in 1e-7deg 
 * @param lon [degE7] formation leader longitude in 1e-7deg
 * @param msl [m] formation leader msl altitude in meter
 * @param ve [m/s] formation leader east speed
 * @param vn [m/s] formation leader north speed
 * @param vu [m/s] formation leader up speed
 * @param yaw [deg] formation leader yaw
 * @param formation_type  formation type
 * @param x_dist [cm] distance between drones in x axis
 * @param y_dist [cm] distance between drones in y axis
 * @param z_dist [cm] distance between drones in z axis
 * @param rect_col_num  columns number of rectangle formation
 * @param formation_heading [deg] if nan, use yaw as formation heading
 * @param form_head_lock  0 unlock, 1 lock
 * @param ae [m/s/s] formation leader east acceleration
 * @param an [m/s/s] formation leader east acceleration
 * @param au [m/s/s] formation leader east acceleration
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_formation_leader_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint32_t timestamp,uint32_t state,int32_t lat,int32_t lon,float msl,float ve,float vn,float vu,float yaw,uint8_t formation_type,int16_t x_dist,int16_t y_dist,int16_t z_dist,uint16_t rect_col_num,float formation_heading,float form_head_lock,float ae,float an,float au)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_uint32_t(buf, 4, state);
    _mav_put_int32_t(buf, 8, lat);
    _mav_put_int32_t(buf, 12, lon);
    _mav_put_float(buf, 16, msl);
    _mav_put_float(buf, 20, ve);
    _mav_put_float(buf, 24, vn);
    _mav_put_float(buf, 28, vu);
    _mav_put_float(buf, 32, yaw);
    _mav_put_int16_t(buf, 36, x_dist);
    _mav_put_int16_t(buf, 38, y_dist);
    _mav_put_int16_t(buf, 40, z_dist);
    _mav_put_uint16_t(buf, 42, rect_col_num);
    _mav_put_uint8_t(buf, 44, formation_type);
    _mav_put_float(buf, 45, formation_heading);
    _mav_put_float(buf, 49, form_head_lock);
    _mav_put_float(buf, 53, ae);
    _mav_put_float(buf, 57, an);
    _mav_put_float(buf, 61, au);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#else
    mavlink_vk_formation_leader_t packet;
    packet.timestamp = timestamp;
    packet.state = state;
    packet.lat = lat;
    packet.lon = lon;
    packet.msl = msl;
    packet.ve = ve;
    packet.vn = vn;
    packet.vu = vu;
    packet.yaw = yaw;
    packet.x_dist = x_dist;
    packet.y_dist = y_dist;
    packet.z_dist = z_dist;
    packet.rect_col_num = rect_col_num;
    packet.formation_type = formation_type;
    packet.formation_heading = formation_heading;
    packet.form_head_lock = form_head_lock;
    packet.ae = ae;
    packet.an = an;
    packet.au = au;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_FORMATION_LEADER;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
}

/**
 * @brief Encode a vk_formation_leader 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 vk_formation_leader C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_formation_leader_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
{
    return mavlink_msg_vk_formation_leader_pack(system_id, component_id, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
}

/**
 * @brief Encode a vk_formation_leader 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 vk_formation_leader C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_formation_leader_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
{
    return mavlink_msg_vk_formation_leader_pack_chan(system_id, component_id, chan, msg, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
}

/**
 * @brief Encode a vk_formation_leader struct with provided status structure
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 * @param vk_formation_leader C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_formation_leader_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_formation_leader_t* vk_formation_leader)
{
    return mavlink_msg_vk_formation_leader_pack_status(system_id, component_id, _status, msg,  vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
}

/**
 * @brief Send a vk_formation_leader message
 * @param chan MAVLink channel to send the message
 *
 * @param timestamp [ms] Timestamp in ms from system boot.
 * @param state  formation leader drone state bitmap
 * @param lat [degE7] formation leader latitude in 1e-7deg 
 * @param lon [degE7] formation leader longitude in 1e-7deg
 * @param msl [m] formation leader msl altitude in meter
 * @param ve [m/s] formation leader east speed
 * @param vn [m/s] formation leader north speed
 * @param vu [m/s] formation leader up speed
 * @param yaw [deg] formation leader yaw
 * @param formation_type  formation type
 * @param x_dist [cm] distance between drones in x axis
 * @param y_dist [cm] distance between drones in y axis
 * @param z_dist [cm] distance between drones in z axis
 * @param rect_col_num  columns number of rectangle formation
 * @param formation_heading [deg] if nan, use yaw as formation heading
 * @param form_head_lock  0 unlock, 1 lock
 * @param ae [m/s/s] formation leader east acceleration
 * @param an [m/s/s] formation leader east acceleration
 * @param au [m/s/s] formation leader east acceleration
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_vk_formation_leader_send(mavlink_channel_t chan, uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_uint32_t(buf, 4, state);
    _mav_put_int32_t(buf, 8, lat);
    _mav_put_int32_t(buf, 12, lon);
    _mav_put_float(buf, 16, msl);
    _mav_put_float(buf, 20, ve);
    _mav_put_float(buf, 24, vn);
    _mav_put_float(buf, 28, vu);
    _mav_put_float(buf, 32, yaw);
    _mav_put_int16_t(buf, 36, x_dist);
    _mav_put_int16_t(buf, 38, y_dist);
    _mav_put_int16_t(buf, 40, z_dist);
    _mav_put_uint16_t(buf, 42, rect_col_num);
    _mav_put_uint8_t(buf, 44, formation_type);
    _mav_put_float(buf, 45, formation_heading);
    _mav_put_float(buf, 49, form_head_lock);
    _mav_put_float(buf, 53, ae);
    _mav_put_float(buf, 57, an);
    _mav_put_float(buf, 61, au);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#else
    mavlink_vk_formation_leader_t packet;
    packet.timestamp = timestamp;
    packet.state = state;
    packet.lat = lat;
    packet.lon = lon;
    packet.msl = msl;
    packet.ve = ve;
    packet.vn = vn;
    packet.vu = vu;
    packet.yaw = yaw;
    packet.x_dist = x_dist;
    packet.y_dist = y_dist;
    packet.z_dist = z_dist;
    packet.rect_col_num = rect_col_num;
    packet.formation_type = formation_type;
    packet.formation_heading = formation_heading;
    packet.form_head_lock = form_head_lock;
    packet.ae = ae;
    packet.an = an;
    packet.au = au;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)&packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#endif
}

/**
 * @brief Send a vk_formation_leader message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_vk_formation_leader_send_struct(mavlink_channel_t chan, const mavlink_vk_formation_leader_t* vk_formation_leader)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_vk_formation_leader_send(chan, vk_formation_leader->timestamp, vk_formation_leader->state, vk_formation_leader->lat, vk_formation_leader->lon, vk_formation_leader->msl, vk_formation_leader->ve, vk_formation_leader->vn, vk_formation_leader->vu, vk_formation_leader->yaw, vk_formation_leader->formation_type, vk_formation_leader->x_dist, vk_formation_leader->y_dist, vk_formation_leader->z_dist, vk_formation_leader->rect_col_num, vk_formation_leader->formation_heading, vk_formation_leader->form_head_lock, vk_formation_leader->ae, vk_formation_leader->an, vk_formation_leader->au);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)vk_formation_leader, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#endif
}

#if MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This variant 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_vk_formation_leader_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, uint32_t state, int32_t lat, int32_t lon, float msl, float ve, float vn, float vu, float yaw, uint8_t formation_type, int16_t x_dist, int16_t y_dist, int16_t z_dist, uint16_t rect_col_num, float formation_heading, float form_head_lock, float ae, float an, float au)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_uint32_t(buf, 4, state);
    _mav_put_int32_t(buf, 8, lat);
    _mav_put_int32_t(buf, 12, lon);
    _mav_put_float(buf, 16, msl);
    _mav_put_float(buf, 20, ve);
    _mav_put_float(buf, 24, vn);
    _mav_put_float(buf, 28, vu);
    _mav_put_float(buf, 32, yaw);
    _mav_put_int16_t(buf, 36, x_dist);
    _mav_put_int16_t(buf, 38, y_dist);
    _mav_put_int16_t(buf, 40, z_dist);
    _mav_put_uint16_t(buf, 42, rect_col_num);
    _mav_put_uint8_t(buf, 44, formation_type);
    _mav_put_float(buf, 45, formation_heading);
    _mav_put_float(buf, 49, form_head_lock);
    _mav_put_float(buf, 53, ae);
    _mav_put_float(buf, 57, an);
    _mav_put_float(buf, 61, au);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, buf, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#else
    mavlink_vk_formation_leader_t *packet = (mavlink_vk_formation_leader_t *)msgbuf;
    packet->timestamp = timestamp;
    packet->state = state;
    packet->lat = lat;
    packet->lon = lon;
    packet->msl = msl;
    packet->ve = ve;
    packet->vn = vn;
    packet->vu = vu;
    packet->yaw = yaw;
    packet->x_dist = x_dist;
    packet->y_dist = y_dist;
    packet->z_dist = z_dist;
    packet->rect_col_num = rect_col_num;
    packet->formation_type = formation_type;
    packet->formation_heading = formation_heading;
    packet->form_head_lock = form_head_lock;
    packet->ae = ae;
    packet->an = an;
    packet->au = au;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_FORMATION_LEADER, (const char *)packet, MAVLINK_MSG_ID_VK_FORMATION_LEADER_MIN_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN, MAVLINK_MSG_ID_VK_FORMATION_LEADER_CRC);
#endif
}
#endif

#endif

// MESSAGE VK_FORMATION_LEADER UNPACKING


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

/**
 * @brief Get field state from vk_formation_leader message
 *
 * @return  formation leader drone state bitmap
 */
static inline uint32_t mavlink_msg_vk_formation_leader_get_state(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  4);
}

/**
 * @brief Get field lat from vk_formation_leader message
 *
 * @return [degE7] formation leader latitude in 1e-7deg 
 */
static inline int32_t mavlink_msg_vk_formation_leader_get_lat(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  8);
}

/**
 * @brief Get field lon from vk_formation_leader message
 *
 * @return [degE7] formation leader longitude in 1e-7deg
 */
static inline int32_t mavlink_msg_vk_formation_leader_get_lon(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  12);
}

/**
 * @brief Get field msl from vk_formation_leader message
 *
 * @return [m] formation leader msl altitude in meter
 */
static inline float mavlink_msg_vk_formation_leader_get_msl(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field ve from vk_formation_leader message
 *
 * @return [m/s] formation leader east speed
 */
static inline float mavlink_msg_vk_formation_leader_get_ve(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field vn from vk_formation_leader message
 *
 * @return [m/s] formation leader north speed
 */
static inline float mavlink_msg_vk_formation_leader_get_vn(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field vu from vk_formation_leader message
 *
 * @return [m/s] formation leader up speed
 */
static inline float mavlink_msg_vk_formation_leader_get_vu(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field yaw from vk_formation_leader message
 *
 * @return [deg] formation leader yaw
 */
static inline float mavlink_msg_vk_formation_leader_get_yaw(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  32);
}

/**
 * @brief Get field formation_type from vk_formation_leader message
 *
 * @return  formation type
 */
static inline uint8_t mavlink_msg_vk_formation_leader_get_formation_type(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  44);
}

/**
 * @brief Get field x_dist from vk_formation_leader message
 *
 * @return [cm] distance between drones in x axis
 */
static inline int16_t mavlink_msg_vk_formation_leader_get_x_dist(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  36);
}

/**
 * @brief Get field y_dist from vk_formation_leader message
 *
 * @return [cm] distance between drones in y axis
 */
static inline int16_t mavlink_msg_vk_formation_leader_get_y_dist(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  38);
}

/**
 * @brief Get field z_dist from vk_formation_leader message
 *
 * @return [cm] distance between drones in z axis
 */
static inline int16_t mavlink_msg_vk_formation_leader_get_z_dist(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  40);
}

/**
 * @brief Get field rect_col_num from vk_formation_leader message
 *
 * @return  columns number of rectangle formation
 */
static inline uint16_t mavlink_msg_vk_formation_leader_get_rect_col_num(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint16_t(msg,  42);
}

/**
 * @brief Get field formation_heading from vk_formation_leader message
 *
 * @return [deg] if nan, use yaw as formation heading
 */
static inline float mavlink_msg_vk_formation_leader_get_formation_heading(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  45);
}

/**
 * @brief Get field form_head_lock from vk_formation_leader message
 *
 * @return  0 unlock, 1 lock
 */
static inline float mavlink_msg_vk_formation_leader_get_form_head_lock(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  49);
}

/**
 * @brief Get field ae from vk_formation_leader message
 *
 * @return [m/s/s] formation leader east acceleration
 */
static inline float mavlink_msg_vk_formation_leader_get_ae(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  53);
}

/**
 * @brief Get field an from vk_formation_leader message
 *
 * @return [m/s/s] formation leader east acceleration
 */
static inline float mavlink_msg_vk_formation_leader_get_an(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  57);
}

/**
 * @brief Get field au from vk_formation_leader message
 *
 * @return [m/s/s] formation leader east acceleration
 */
static inline float mavlink_msg_vk_formation_leader_get_au(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  61);
}

/**
 * @brief Decode a vk_formation_leader message into a struct
 *
 * @param msg The message to decode
 * @param vk_formation_leader C-struct to decode the message contents into
 */
static inline void mavlink_msg_vk_formation_leader_decode(const mavlink_message_t* msg, mavlink_vk_formation_leader_t* vk_formation_leader)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    vk_formation_leader->timestamp = mavlink_msg_vk_formation_leader_get_timestamp(msg);
    vk_formation_leader->state = mavlink_msg_vk_formation_leader_get_state(msg);
    vk_formation_leader->lat = mavlink_msg_vk_formation_leader_get_lat(msg);
    vk_formation_leader->lon = mavlink_msg_vk_formation_leader_get_lon(msg);
    vk_formation_leader->msl = mavlink_msg_vk_formation_leader_get_msl(msg);
    vk_formation_leader->ve = mavlink_msg_vk_formation_leader_get_ve(msg);
    vk_formation_leader->vn = mavlink_msg_vk_formation_leader_get_vn(msg);
    vk_formation_leader->vu = mavlink_msg_vk_formation_leader_get_vu(msg);
    vk_formation_leader->yaw = mavlink_msg_vk_formation_leader_get_yaw(msg);
    vk_formation_leader->x_dist = mavlink_msg_vk_formation_leader_get_x_dist(msg);
    vk_formation_leader->y_dist = mavlink_msg_vk_formation_leader_get_y_dist(msg);
    vk_formation_leader->z_dist = mavlink_msg_vk_formation_leader_get_z_dist(msg);
    vk_formation_leader->rect_col_num = mavlink_msg_vk_formation_leader_get_rect_col_num(msg);
    vk_formation_leader->formation_type = mavlink_msg_vk_formation_leader_get_formation_type(msg);
    vk_formation_leader->formation_heading = mavlink_msg_vk_formation_leader_get_formation_heading(msg);
    vk_formation_leader->form_head_lock = mavlink_msg_vk_formation_leader_get_form_head_lock(msg);
    vk_formation_leader->ae = mavlink_msg_vk_formation_leader_get_ae(msg);
    vk_formation_leader->an = mavlink_msg_vk_formation_leader_get_an(msg);
    vk_formation_leader->au = mavlink_msg_vk_formation_leader_get_au(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN? msg->len : MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN;
        memset(vk_formation_leader, 0, MAVLINK_MSG_ID_VK_FORMATION_LEADER_LEN);
    memcpy(vk_formation_leader, _MAV_PAYLOAD(msg), len);
#endif
}