#pragma once
// MESSAGE VK_EXT_VISION_FUSION PACKING

#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION 53111


typedef struct __mavlink_vk_ext_vision_fusion_t {
 uint32_t timestamp; /*< [ms] timestamp from system boot*/
 float pos_frd[3]; /*< [m] position in vision frd frame*/
 float vel_frd[3]; /*< [m/s] velocity in vision frd frame*/
 float Q_g[4]; /*<  attitude quaternion by FRD_NED */
 int32_t lat; /*<  latitidue*/
 int32_t lon; /*<  longitude*/
 float alt_amsl; /*<  amsl latitidue*/
 float hR; /*<  relative altitude*/
 float vel_ned[3]; /*< [m/s] velocity in NED frame*/
 float bias_acc[3]; /*< [m/s/s] acceleration bias in body XYZ*/
 float bias_gyr[3]; /*< [rad/s] gyroscope bias in body XYZ*/
 float cov_att[3]; /*< [rad] attitude covariance*/
 float cov_pos[3]; /*< [m] position covariance*/
 float cov_vel[3]; /*< [m/s] */
 uint8_t unhealthy; /*<  unhealthy flag*/
 uint8_t flag; /*<  work status flag*/
 uint8_t reset_cnt; /*<   reset count*/
} mavlink_vk_ext_vision_fusion_t;

#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN 135
#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN 135
#define MAVLINK_MSG_ID_53111_LEN 135
#define MAVLINK_MSG_ID_53111_MIN_LEN 135

#define MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC 188
#define MAVLINK_MSG_ID_53111_CRC 188

#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_POS_FRD_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_VEL_FRD_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_Q_G_LEN 4
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_VEL_NED_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_BIAS_ACC_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_BIAS_GYR_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_ATT_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_POS_LEN 3
#define MAVLINK_MSG_VK_EXT_VISION_FUSION_FIELD_COV_VEL_LEN 3

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VK_EXT_VISION_FUSION { \
    53111, \
    "VK_EXT_VISION_FUSION", \
    17, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_ext_vision_fusion_t, timestamp) }, \
         { "pos_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 4, offsetof(mavlink_vk_ext_vision_fusion_t, pos_frd) }, \
         { "vel_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vk_ext_vision_fusion_t, vel_frd) }, \
         { "Q_g", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_vk_ext_vision_fusion_t, Q_g) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_vk_ext_vision_fusion_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 48, offsetof(mavlink_vk_ext_vision_fusion_t, lon) }, \
         { "alt_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_vk_ext_vision_fusion_t, alt_amsl) }, \
         { "hR", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_vk_ext_vision_fusion_t, hR) }, \
         { "vel_ned", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_vk_ext_vision_fusion_t, vel_ned) }, \
         { "bias_acc", NULL, MAVLINK_TYPE_FLOAT, 3, 72, offsetof(mavlink_vk_ext_vision_fusion_t, bias_acc) }, \
         { "bias_gyr", NULL, MAVLINK_TYPE_FLOAT, 3, 84, offsetof(mavlink_vk_ext_vision_fusion_t, bias_gyr) }, \
         { "cov_att", NULL, MAVLINK_TYPE_FLOAT, 3, 96, offsetof(mavlink_vk_ext_vision_fusion_t, cov_att) }, \
         { "cov_pos", NULL, MAVLINK_TYPE_FLOAT, 3, 108, offsetof(mavlink_vk_ext_vision_fusion_t, cov_pos) }, \
         { "cov_vel", NULL, MAVLINK_TYPE_FLOAT, 3, 120, offsetof(mavlink_vk_ext_vision_fusion_t, cov_vel) }, \
         { "unhealthy", NULL, MAVLINK_TYPE_UINT8_T, 0, 132, offsetof(mavlink_vk_ext_vision_fusion_t, unhealthy) }, \
         { "flag", NULL, MAVLINK_TYPE_UINT8_T, 0, 133, offsetof(mavlink_vk_ext_vision_fusion_t, flag) }, \
         { "reset_cnt", NULL, MAVLINK_TYPE_UINT8_T, 0, 134, offsetof(mavlink_vk_ext_vision_fusion_t, reset_cnt) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_VK_EXT_VISION_FUSION { \
    "VK_EXT_VISION_FUSION", \
    17, \
    {  { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vk_ext_vision_fusion_t, timestamp) }, \
         { "pos_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 4, offsetof(mavlink_vk_ext_vision_fusion_t, pos_frd) }, \
         { "vel_frd", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vk_ext_vision_fusion_t, vel_frd) }, \
         { "Q_g", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_vk_ext_vision_fusion_t, Q_g) }, \
         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_vk_ext_vision_fusion_t, lat) }, \
         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 48, offsetof(mavlink_vk_ext_vision_fusion_t, lon) }, \
         { "alt_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_vk_ext_vision_fusion_t, alt_amsl) }, \
         { "hR", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_vk_ext_vision_fusion_t, hR) }, \
         { "vel_ned", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_vk_ext_vision_fusion_t, vel_ned) }, \
         { "bias_acc", NULL, MAVLINK_TYPE_FLOAT, 3, 72, offsetof(mavlink_vk_ext_vision_fusion_t, bias_acc) }, \
         { "bias_gyr", NULL, MAVLINK_TYPE_FLOAT, 3, 84, offsetof(mavlink_vk_ext_vision_fusion_t, bias_gyr) }, \
         { "cov_att", NULL, MAVLINK_TYPE_FLOAT, 3, 96, offsetof(mavlink_vk_ext_vision_fusion_t, cov_att) }, \
         { "cov_pos", NULL, MAVLINK_TYPE_FLOAT, 3, 108, offsetof(mavlink_vk_ext_vision_fusion_t, cov_pos) }, \
         { "cov_vel", NULL, MAVLINK_TYPE_FLOAT, 3, 120, offsetof(mavlink_vk_ext_vision_fusion_t, cov_vel) }, \
         { "unhealthy", NULL, MAVLINK_TYPE_UINT8_T, 0, 132, offsetof(mavlink_vk_ext_vision_fusion_t, unhealthy) }, \
         { "flag", NULL, MAVLINK_TYPE_UINT8_T, 0, 133, offsetof(mavlink_vk_ext_vision_fusion_t, flag) }, \
         { "reset_cnt", NULL, MAVLINK_TYPE_UINT8_T, 0, 134, offsetof(mavlink_vk_ext_vision_fusion_t, reset_cnt) }, \
         } \
}
#endif

/**
 * @brief Pack a vk_ext_vision_fusion 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 from system boot
 * @param pos_frd [m] position in vision frd frame
 * @param vel_frd [m/s] velocity in vision frd frame
 * @param Q_g  attitude quaternion by FRD_NED 
 * @param lat  latitidue
 * @param lon  longitude
 * @param alt_amsl  amsl latitidue
 * @param hR  relative altitude
 * @param vel_ned [m/s] velocity in NED frame
 * @param bias_acc [m/s/s] acceleration bias in body XYZ
 * @param bias_gyr [rad/s] gyroscope bias in body XYZ
 * @param cov_att [rad] attitude covariance
 * @param cov_pos [m] position covariance
 * @param cov_vel [m/s] 
 * @param unhealthy  unhealthy flag
 * @param flag  work status flag
 * @param reset_cnt   reset count
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 44, lat);
    _mav_put_int32_t(buf, 48, lon);
    _mav_put_float(buf, 52, alt_amsl);
    _mav_put_float(buf, 56, hR);
    _mav_put_uint8_t(buf, 132, unhealthy);
    _mav_put_uint8_t(buf, 133, flag);
    _mav_put_uint8_t(buf, 134, reset_cnt);
    _mav_put_float_array(buf, 4, pos_frd, 3);
    _mav_put_float_array(buf, 16, vel_frd, 3);
    _mav_put_float_array(buf, 28, Q_g, 4);
    _mav_put_float_array(buf, 60, vel_ned, 3);
    _mav_put_float_array(buf, 72, bias_acc, 3);
    _mav_put_float_array(buf, 84, bias_gyr, 3);
    _mav_put_float_array(buf, 96, cov_att, 3);
    _mav_put_float_array(buf, 108, cov_pos, 3);
    _mav_put_float_array(buf, 120, cov_vel, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#else
    mavlink_vk_ext_vision_fusion_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt_amsl = alt_amsl;
    packet.hR = hR;
    packet.unhealthy = unhealthy;
    packet.flag = flag;
    packet.reset_cnt = reset_cnt;
    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
}

/**
 * @brief Pack a vk_ext_vision_fusion 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 from system boot
 * @param pos_frd [m] position in vision frd frame
 * @param vel_frd [m/s] velocity in vision frd frame
 * @param Q_g  attitude quaternion by FRD_NED 
 * @param lat  latitidue
 * @param lon  longitude
 * @param alt_amsl  amsl latitidue
 * @param hR  relative altitude
 * @param vel_ned [m/s] velocity in NED frame
 * @param bias_acc [m/s/s] acceleration bias in body XYZ
 * @param bias_gyr [rad/s] gyroscope bias in body XYZ
 * @param cov_att [rad] attitude covariance
 * @param cov_pos [m] position covariance
 * @param cov_vel [m/s] 
 * @param unhealthy  unhealthy flag
 * @param flag  work status flag
 * @param reset_cnt   reset count
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 44, lat);
    _mav_put_int32_t(buf, 48, lon);
    _mav_put_float(buf, 52, alt_amsl);
    _mav_put_float(buf, 56, hR);
    _mav_put_uint8_t(buf, 132, unhealthy);
    _mav_put_uint8_t(buf, 133, flag);
    _mav_put_uint8_t(buf, 134, reset_cnt);
    _mav_put_float_array(buf, 4, pos_frd, 3);
    _mav_put_float_array(buf, 16, vel_frd, 3);
    _mav_put_float_array(buf, 28, Q_g, 4);
    _mav_put_float_array(buf, 60, vel_ned, 3);
    _mav_put_float_array(buf, 72, bias_acc, 3);
    _mav_put_float_array(buf, 84, bias_gyr, 3);
    _mav_put_float_array(buf, 96, cov_att, 3);
    _mav_put_float_array(buf, 108, cov_pos, 3);
    _mav_put_float_array(buf, 120, cov_vel, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#else
    mavlink_vk_ext_vision_fusion_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt_amsl = alt_amsl;
    packet.hR = hR;
    packet.unhealthy = unhealthy;
    packet.flag = flag;
    packet.reset_cnt = reset_cnt;
    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#endif
}

/**
 * @brief Pack a vk_ext_vision_fusion 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 from system boot
 * @param pos_frd [m] position in vision frd frame
 * @param vel_frd [m/s] velocity in vision frd frame
 * @param Q_g  attitude quaternion by FRD_NED 
 * @param lat  latitidue
 * @param lon  longitude
 * @param alt_amsl  amsl latitidue
 * @param hR  relative altitude
 * @param vel_ned [m/s] velocity in NED frame
 * @param bias_acc [m/s/s] acceleration bias in body XYZ
 * @param bias_gyr [rad/s] gyroscope bias in body XYZ
 * @param cov_att [rad] attitude covariance
 * @param cov_pos [m] position covariance
 * @param cov_vel [m/s] 
 * @param unhealthy  unhealthy flag
 * @param flag  work status flag
 * @param reset_cnt   reset count
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint32_t timestamp,const float *pos_frd,const float *vel_frd,const float *Q_g,int32_t lat,int32_t lon,float alt_amsl,float hR,const float *vel_ned,const float *bias_acc,const float *bias_gyr,const float *cov_att,const float *cov_pos,const float *cov_vel,uint8_t unhealthy,uint8_t flag,uint8_t reset_cnt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 44, lat);
    _mav_put_int32_t(buf, 48, lon);
    _mav_put_float(buf, 52, alt_amsl);
    _mav_put_float(buf, 56, hR);
    _mav_put_uint8_t(buf, 132, unhealthy);
    _mav_put_uint8_t(buf, 133, flag);
    _mav_put_uint8_t(buf, 134, reset_cnt);
    _mav_put_float_array(buf, 4, pos_frd, 3);
    _mav_put_float_array(buf, 16, vel_frd, 3);
    _mav_put_float_array(buf, 28, Q_g, 4);
    _mav_put_float_array(buf, 60, vel_ned, 3);
    _mav_put_float_array(buf, 72, bias_acc, 3);
    _mav_put_float_array(buf, 84, bias_gyr, 3);
    _mav_put_float_array(buf, 96, cov_att, 3);
    _mav_put_float_array(buf, 108, cov_pos, 3);
    _mav_put_float_array(buf, 120, cov_vel, 3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#else
    mavlink_vk_ext_vision_fusion_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt_amsl = alt_amsl;
    packet.hR = hR;
    packet.unhealthy = unhealthy;
    packet.flag = flag;
    packet.reset_cnt = reset_cnt;
    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_VK_EXT_VISION_FUSION;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
}

/**
 * @brief Encode a vk_ext_vision_fusion 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_ext_vision_fusion C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
{
    return mavlink_msg_vk_ext_vision_fusion_pack(system_id, component_id, msg, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
}

/**
 * @brief Encode a vk_ext_vision_fusion 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_ext_vision_fusion C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
{
    return mavlink_msg_vk_ext_vision_fusion_pack_chan(system_id, component_id, chan, msg, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
}

/**
 * @brief Encode a vk_ext_vision_fusion 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_ext_vision_fusion C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
{
    return mavlink_msg_vk_ext_vision_fusion_pack_status(system_id, component_id, _status, msg,  vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
}

/**
 * @brief Send a vk_ext_vision_fusion message
 * @param chan MAVLink channel to send the message
 *
 * @param timestamp [ms] timestamp from system boot
 * @param pos_frd [m] position in vision frd frame
 * @param vel_frd [m/s] velocity in vision frd frame
 * @param Q_g  attitude quaternion by FRD_NED 
 * @param lat  latitidue
 * @param lon  longitude
 * @param alt_amsl  amsl latitidue
 * @param hR  relative altitude
 * @param vel_ned [m/s] velocity in NED frame
 * @param bias_acc [m/s/s] acceleration bias in body XYZ
 * @param bias_gyr [rad/s] gyroscope bias in body XYZ
 * @param cov_att [rad] attitude covariance
 * @param cov_pos [m] position covariance
 * @param cov_vel [m/s] 
 * @param unhealthy  unhealthy flag
 * @param flag  work status flag
 * @param reset_cnt   reset count
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_vk_ext_vision_fusion_send(mavlink_channel_t chan, uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN];
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 44, lat);
    _mav_put_int32_t(buf, 48, lon);
    _mav_put_float(buf, 52, alt_amsl);
    _mav_put_float(buf, 56, hR);
    _mav_put_uint8_t(buf, 132, unhealthy);
    _mav_put_uint8_t(buf, 133, flag);
    _mav_put_uint8_t(buf, 134, reset_cnt);
    _mav_put_float_array(buf, 4, pos_frd, 3);
    _mav_put_float_array(buf, 16, vel_frd, 3);
    _mav_put_float_array(buf, 28, Q_g, 4);
    _mav_put_float_array(buf, 60, vel_ned, 3);
    _mav_put_float_array(buf, 72, bias_acc, 3);
    _mav_put_float_array(buf, 84, bias_gyr, 3);
    _mav_put_float_array(buf, 96, cov_att, 3);
    _mav_put_float_array(buf, 108, cov_pos, 3);
    _mav_put_float_array(buf, 120, cov_vel, 3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#else
    mavlink_vk_ext_vision_fusion_t packet;
    packet.timestamp = timestamp;
    packet.lat = lat;
    packet.lon = lon;
    packet.alt_amsl = alt_amsl;
    packet.hR = hR;
    packet.unhealthy = unhealthy;
    packet.flag = flag;
    packet.reset_cnt = reset_cnt;
    mav_array_memcpy(packet.pos_frd, pos_frd, sizeof(float)*3);
    mav_array_memcpy(packet.vel_frd, vel_frd, sizeof(float)*3);
    mav_array_memcpy(packet.Q_g, Q_g, sizeof(float)*4);
    mav_array_memcpy(packet.vel_ned, vel_ned, sizeof(float)*3);
    mav_array_memcpy(packet.bias_acc, bias_acc, sizeof(float)*3);
    mav_array_memcpy(packet.bias_gyr, bias_gyr, sizeof(float)*3);
    mav_array_memcpy(packet.cov_att, cov_att, sizeof(float)*3);
    mav_array_memcpy(packet.cov_pos, cov_pos, sizeof(float)*3);
    mav_array_memcpy(packet.cov_vel, cov_vel, sizeof(float)*3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)&packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#endif
}

/**
 * @brief Send a vk_ext_vision_fusion message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_vk_ext_vision_fusion_send_struct(mavlink_channel_t chan, const mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_vk_ext_vision_fusion_send(chan, vk_ext_vision_fusion->timestamp, vk_ext_vision_fusion->pos_frd, vk_ext_vision_fusion->vel_frd, vk_ext_vision_fusion->Q_g, vk_ext_vision_fusion->lat, vk_ext_vision_fusion->lon, vk_ext_vision_fusion->alt_amsl, vk_ext_vision_fusion->hR, vk_ext_vision_fusion->vel_ned, vk_ext_vision_fusion->bias_acc, vk_ext_vision_fusion->bias_gyr, vk_ext_vision_fusion->cov_att, vk_ext_vision_fusion->cov_pos, vk_ext_vision_fusion->cov_vel, vk_ext_vision_fusion->unhealthy, vk_ext_vision_fusion->flag, vk_ext_vision_fusion->reset_cnt);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)vk_ext_vision_fusion, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#endif
}

#if MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_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_ext_vision_fusion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t timestamp, const float *pos_frd, const float *vel_frd, const float *Q_g, int32_t lat, int32_t lon, float alt_amsl, float hR, const float *vel_ned, const float *bias_acc, const float *bias_gyr, const float *cov_att, const float *cov_pos, const float *cov_vel, uint8_t unhealthy, uint8_t flag, uint8_t reset_cnt)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint32_t(buf, 0, timestamp);
    _mav_put_int32_t(buf, 44, lat);
    _mav_put_int32_t(buf, 48, lon);
    _mav_put_float(buf, 52, alt_amsl);
    _mav_put_float(buf, 56, hR);
    _mav_put_uint8_t(buf, 132, unhealthy);
    _mav_put_uint8_t(buf, 133, flag);
    _mav_put_uint8_t(buf, 134, reset_cnt);
    _mav_put_float_array(buf, 4, pos_frd, 3);
    _mav_put_float_array(buf, 16, vel_frd, 3);
    _mav_put_float_array(buf, 28, Q_g, 4);
    _mav_put_float_array(buf, 60, vel_ned, 3);
    _mav_put_float_array(buf, 72, bias_acc, 3);
    _mav_put_float_array(buf, 84, bias_gyr, 3);
    _mav_put_float_array(buf, 96, cov_att, 3);
    _mav_put_float_array(buf, 108, cov_pos, 3);
    _mav_put_float_array(buf, 120, cov_vel, 3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, buf, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#else
    mavlink_vk_ext_vision_fusion_t *packet = (mavlink_vk_ext_vision_fusion_t *)msgbuf;
    packet->timestamp = timestamp;
    packet->lat = lat;
    packet->lon = lon;
    packet->alt_amsl = alt_amsl;
    packet->hR = hR;
    packet->unhealthy = unhealthy;
    packet->flag = flag;
    packet->reset_cnt = reset_cnt;
    mav_array_memcpy(packet->pos_frd, pos_frd, sizeof(float)*3);
    mav_array_memcpy(packet->vel_frd, vel_frd, sizeof(float)*3);
    mav_array_memcpy(packet->Q_g, Q_g, sizeof(float)*4);
    mav_array_memcpy(packet->vel_ned, vel_ned, sizeof(float)*3);
    mav_array_memcpy(packet->bias_acc, bias_acc, sizeof(float)*3);
    mav_array_memcpy(packet->bias_gyr, bias_gyr, sizeof(float)*3);
    mav_array_memcpy(packet->cov_att, cov_att, sizeof(float)*3);
    mav_array_memcpy(packet->cov_pos, cov_pos, sizeof(float)*3);
    mav_array_memcpy(packet->cov_vel, cov_vel, sizeof(float)*3);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION, (const char *)packet, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_MIN_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_CRC);
#endif
}
#endif

#endif

// MESSAGE VK_EXT_VISION_FUSION UNPACKING


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

/**
 * @brief Get field pos_frd from vk_ext_vision_fusion message
 *
 * @return [m] position in vision frd frame
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_pos_frd(const mavlink_message_t* msg, float *pos_frd)
{
    return _MAV_RETURN_float_array(msg, pos_frd, 3,  4);
}

/**
 * @brief Get field vel_frd from vk_ext_vision_fusion message
 *
 * @return [m/s] velocity in vision frd frame
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_vel_frd(const mavlink_message_t* msg, float *vel_frd)
{
    return _MAV_RETURN_float_array(msg, vel_frd, 3,  16);
}

/**
 * @brief Get field Q_g from vk_ext_vision_fusion message
 *
 * @return  attitude quaternion by FRD_NED 
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_Q_g(const mavlink_message_t* msg, float *Q_g)
{
    return _MAV_RETURN_float_array(msg, Q_g, 4,  28);
}

/**
 * @brief Get field lat from vk_ext_vision_fusion message
 *
 * @return  latitidue
 */
static inline int32_t mavlink_msg_vk_ext_vision_fusion_get_lat(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  44);
}

/**
 * @brief Get field lon from vk_ext_vision_fusion message
 *
 * @return  longitude
 */
static inline int32_t mavlink_msg_vk_ext_vision_fusion_get_lon(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int32_t(msg,  48);
}

/**
 * @brief Get field alt_amsl from vk_ext_vision_fusion message
 *
 * @return  amsl latitidue
 */
static inline float mavlink_msg_vk_ext_vision_fusion_get_alt_amsl(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  52);
}

/**
 * @brief Get field hR from vk_ext_vision_fusion message
 *
 * @return  relative altitude
 */
static inline float mavlink_msg_vk_ext_vision_fusion_get_hR(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  56);
}

/**
 * @brief Get field vel_ned from vk_ext_vision_fusion message
 *
 * @return [m/s] velocity in NED frame
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_vel_ned(const mavlink_message_t* msg, float *vel_ned)
{
    return _MAV_RETURN_float_array(msg, vel_ned, 3,  60);
}

/**
 * @brief Get field bias_acc from vk_ext_vision_fusion message
 *
 * @return [m/s/s] acceleration bias in body XYZ
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_bias_acc(const mavlink_message_t* msg, float *bias_acc)
{
    return _MAV_RETURN_float_array(msg, bias_acc, 3,  72);
}

/**
 * @brief Get field bias_gyr from vk_ext_vision_fusion message
 *
 * @return [rad/s] gyroscope bias in body XYZ
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_bias_gyr(const mavlink_message_t* msg, float *bias_gyr)
{
    return _MAV_RETURN_float_array(msg, bias_gyr, 3,  84);
}

/**
 * @brief Get field cov_att from vk_ext_vision_fusion message
 *
 * @return [rad] attitude covariance
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_att(const mavlink_message_t* msg, float *cov_att)
{
    return _MAV_RETURN_float_array(msg, cov_att, 3,  96);
}

/**
 * @brief Get field cov_pos from vk_ext_vision_fusion message
 *
 * @return [m] position covariance
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_pos(const mavlink_message_t* msg, float *cov_pos)
{
    return _MAV_RETURN_float_array(msg, cov_pos, 3,  108);
}

/**
 * @brief Get field cov_vel from vk_ext_vision_fusion message
 *
 * @return [m/s] 
 */
static inline uint16_t mavlink_msg_vk_ext_vision_fusion_get_cov_vel(const mavlink_message_t* msg, float *cov_vel)
{
    return _MAV_RETURN_float_array(msg, cov_vel, 3,  120);
}

/**
 * @brief Get field unhealthy from vk_ext_vision_fusion message
 *
 * @return  unhealthy flag
 */
static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_unhealthy(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  132);
}

/**
 * @brief Get field flag from vk_ext_vision_fusion message
 *
 * @return  work status flag
 */
static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_flag(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  133);
}

/**
 * @brief Get field reset_cnt from vk_ext_vision_fusion message
 *
 * @return   reset count
 */
static inline uint8_t mavlink_msg_vk_ext_vision_fusion_get_reset_cnt(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  134);
}

/**
 * @brief Decode a vk_ext_vision_fusion message into a struct
 *
 * @param msg The message to decode
 * @param vk_ext_vision_fusion C-struct to decode the message contents into
 */
static inline void mavlink_msg_vk_ext_vision_fusion_decode(const mavlink_message_t* msg, mavlink_vk_ext_vision_fusion_t* vk_ext_vision_fusion)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    vk_ext_vision_fusion->timestamp = mavlink_msg_vk_ext_vision_fusion_get_timestamp(msg);
    mavlink_msg_vk_ext_vision_fusion_get_pos_frd(msg, vk_ext_vision_fusion->pos_frd);
    mavlink_msg_vk_ext_vision_fusion_get_vel_frd(msg, vk_ext_vision_fusion->vel_frd);
    mavlink_msg_vk_ext_vision_fusion_get_Q_g(msg, vk_ext_vision_fusion->Q_g);
    vk_ext_vision_fusion->lat = mavlink_msg_vk_ext_vision_fusion_get_lat(msg);
    vk_ext_vision_fusion->lon = mavlink_msg_vk_ext_vision_fusion_get_lon(msg);
    vk_ext_vision_fusion->alt_amsl = mavlink_msg_vk_ext_vision_fusion_get_alt_amsl(msg);
    vk_ext_vision_fusion->hR = mavlink_msg_vk_ext_vision_fusion_get_hR(msg);
    mavlink_msg_vk_ext_vision_fusion_get_vel_ned(msg, vk_ext_vision_fusion->vel_ned);
    mavlink_msg_vk_ext_vision_fusion_get_bias_acc(msg, vk_ext_vision_fusion->bias_acc);
    mavlink_msg_vk_ext_vision_fusion_get_bias_gyr(msg, vk_ext_vision_fusion->bias_gyr);
    mavlink_msg_vk_ext_vision_fusion_get_cov_att(msg, vk_ext_vision_fusion->cov_att);
    mavlink_msg_vk_ext_vision_fusion_get_cov_pos(msg, vk_ext_vision_fusion->cov_pos);
    mavlink_msg_vk_ext_vision_fusion_get_cov_vel(msg, vk_ext_vision_fusion->cov_vel);
    vk_ext_vision_fusion->unhealthy = mavlink_msg_vk_ext_vision_fusion_get_unhealthy(msg);
    vk_ext_vision_fusion->flag = mavlink_msg_vk_ext_vision_fusion_get_flag(msg);
    vk_ext_vision_fusion->reset_cnt = mavlink_msg_vk_ext_vision_fusion_get_reset_cnt(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN? msg->len : MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN;
        memset(vk_ext_vision_fusion, 0, MAVLINK_MSG_ID_VK_EXT_VISION_FUSION_LEN);
    memcpy(vk_ext_vision_fusion, _MAV_PAYLOAD(msg), len);
#endif
}