text: #pragma once
  // MESSAGE GLOBAL_POSITION_INT PACKING
  
  #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
  
  MAVPACKED(
  typedef struct __mavlink_global_position_int_t {
   uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   int32_t lat; /*< [degE7] Latitude, expressed*/
   int32_t lon; /*< [degE7] Longitude, expressed*/
   int32_t alt; /*< [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.*/
   int32_t relative_alt; /*< [mm] Altitude above ground*/
   int16_t vx; /*< [cm/s] Ground X Speed (Latitude, positive north)*/
   int16_t vy; /*< [cm/s] Ground Y Speed (Longitude, positive east)*/
   int16_t vz; /*< [cm/s] Ground Z Speed (Altitude, positive down)*/
   uint16_t hdg; /*< [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
  }) mavlink_global_position_int_t;
  
  #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
  #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
  #define MAVLINK_MSG_ID_33_LEN 28
  #define MAVLINK_MSG_ID_33_MIN_LEN 28
  
  #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
  #define MAVLINK_MSG_ID_33_CRC 104
  
  
  
  #if MAVLINK_COMMAND_24BIT
  #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
      33, \
      "GLOBAL_POSITION_INT", \
      9, \
      {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
           { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
           { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
           { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
           { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
           { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
           { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
           { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
           { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
           } \
  }
  #else
  #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
      "GLOBAL_POSITION_INT", \
      9, \
      {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
           { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
           { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
           { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
           { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
           { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
           { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
           { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
           { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
           } \
  }
  #endif
  
  /**
   * @brief Pack a global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
   * @param lat [degE7] Latitude, expressed
   * @param lon [degE7] Longitude, expressed
   * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
   * @param relative_alt [mm] Altitude above ground
   * @param vx [cm/s] Ground X Speed (Latitude, positive north)
   * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
   * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
   * @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                 uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
      _mav_put_uint32_t(buf, 0, time_boot_ms);
      _mav_put_int32_t(buf, 4, lat);
      _mav_put_int32_t(buf, 8, lon);
      _mav_put_int32_t(buf, 12, alt);
      _mav_put_int32_t(buf, 16, relative_alt);
      _mav_put_int16_t(buf, 20, vx);
      _mav_put_int16_t(buf, 22, vy);
      _mav_put_int16_t(buf, 24, vz);
      _mav_put_uint16_t(buf, 26, hdg);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  #else
      mavlink_global_position_int_t packet;
      packet.time_boot_ms = time_boot_ms;
      packet.lat = lat;
      packet.lon = lon;
      packet.alt = alt;
      packet.relative_alt = relative_alt;
      packet.vx = vx;
      packet.vy = vy;
      packet.vz = vz;
      packet.hdg = hdg;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  #endif
  
      msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
      return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  }
  
  /**
   * @brief Pack a global_position_int 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 time_boot_ms [ms] Timestamp (time since system boot).
   * @param lat [degE7] Latitude, expressed
   * @param lon [degE7] Longitude, expressed
   * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
   * @param relative_alt [mm] Altitude above ground
   * @param vx [cm/s] Ground X Speed (Latitude, positive north)
   * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
   * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
   * @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
   * @return length of the message in bytes (excluding serial stream start sign)
   */
  static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                 mavlink_message_t* msg,
                                     uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
      _mav_put_uint32_t(buf, 0, time_boot_ms);
      _mav_put_int32_t(buf, 4, lat);
      _mav_put_int32_t(buf, 8, lon);
      _mav_put_int32_t(buf, 12, alt);
      _mav_put_int32_t(buf, 16, relative_alt);
      _mav_put_int16_t(buf, 20, vx);
      _mav_put_int16_t(buf, 22, vy);
      _mav_put_int16_t(buf, 24, vz);
      _mav_put_uint16_t(buf, 26, hdg);
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  #else
      mavlink_global_position_int_t packet;
      packet.time_boot_ms = time_boot_ms;
      packet.lat = lat;
      packet.lon = lon;
      packet.alt = alt;
      packet.relative_alt = relative_alt;
      packet.vx = vx;
      packet.vy = vy;
      packet.vz = vz;
      packet.hdg = hdg;
  
          memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  #endif
  
      msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
      return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  }
  
  /**
   * @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
  {
      return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
  }
  
  /**
   * @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
  {
      return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
  }
  
  /**
   * @brief Send a global_position_int message
   * @param chan MAVLink channel to send the message
   *
   * @param time_boot_ms [ms] Timestamp (time since system boot).
   * @param lat [degE7] Latitude, expressed
   * @param lon [degE7] Longitude, expressed
   * @param alt [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
   * @param relative_alt [mm] Altitude above ground
   * @param vx [cm/s] Ground X Speed (Latitude, positive north)
   * @param vy [cm/s] Ground Y Speed (Longitude, positive east)
   * @param vz [cm/s] Ground Z Speed (Altitude, positive down)
   * @param hdg [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
   */
  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
  
  static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
      _mav_put_uint32_t(buf, 0, time_boot_ms);
      _mav_put_int32_t(buf, 4, lat);
      _mav_put_int32_t(buf, 8, lon);
      _mav_put_int32_t(buf, 12, alt);
      _mav_put_int32_t(buf, 16, relative_alt);
      _mav_put_int16_t(buf, 20, vx);
      _mav_put_int16_t(buf, 22, vy);
      _mav_put_int16_t(buf, 24, vz);
      _mav_put_uint16_t(buf, 26, hdg);
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  #else
      mavlink_global_position_int_t packet;
      packet.time_boot_ms = time_boot_ms;
      packet.lat = lat;
      packet.lon = lon;
      packet.alt = alt;
      packet.relative_alt = relative_alt;
      packet.vx = vx;
      packet.vy = vy;
      packet.vz = vz;
      packet.hdg = hdg;
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  #endif
  }
  
  /**
   * @brief Send a global_position_int message
   * @param chan MAVLink channel to send the message
   * @param struct The MAVLink struct to serialize
   */
  static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      mavlink_msg_global_position_int_send(chan, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
  #else
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  #endif
  }
  
  #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
  /*
    This varient 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_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      char *buf = (char *)msgbuf;
      _mav_put_uint32_t(buf, 0, time_boot_ms);
      _mav_put_int32_t(buf, 4, lat);
      _mav_put_int32_t(buf, 8, lon);
      _mav_put_int32_t(buf, 12, alt);
      _mav_put_int32_t(buf, 16, relative_alt);
      _mav_put_int16_t(buf, 20, vx);
      _mav_put_int16_t(buf, 22, vy);
      _mav_put_int16_t(buf, 24, vz);
      _mav_put_uint16_t(buf, 26, hdg);
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  #else
      mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
      packet->time_boot_ms = time_boot_ms;
      packet->lat = lat;
      packet->lon = lon;
      packet->alt = alt;
      packet->relative_alt = relative_alt;
      packet->vx = vx;
      packet->vy = vy;
      packet->vz = vz;
      packet->hdg = hdg;
  
      _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  #endif
  }
  #endif
  
  #endif
  
  // MESSAGE GLOBAL_POSITION_INT UNPACKING
  
  
  /**
   * @brief Get field time_boot_ms from global_position_int message
   *
   * @return [ms] Timestamp (time since system boot).
   */
  static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_uint32_t(msg,  0);
  }
  
  /**
   * @brief Get field lat from global_position_int message
   *
   * @return [degE7] Latitude, expressed
   */
  static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int32_t(msg,  4);
  }
  
  /**
   * @brief Get field lon from global_position_int message
   *
   * @return [degE7] Longitude, expressed
   */
  static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int32_t(msg,  8);
  }
  
  /**
   * @brief Get field alt from global_position_int message
   *
   * @return [mm] Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
   */
  static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int32_t(msg,  12);
  }
  
  /**
   * @brief Get field relative_alt from global_position_int message
   *
   * @return [mm] Altitude above ground
   */
  static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int32_t(msg,  16);
  }
  
  /**
   * @brief Get field vx from global_position_int message
   *
   * @return [cm/s] Ground X Speed (Latitude, positive north)
   */
  static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int16_t(msg,  20);
  }
  
  /**
   * @brief Get field vy from global_position_int message
   *
   * @return [cm/s] Ground Y Speed (Longitude, positive east)
   */
  static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int16_t(msg,  22);
  }
  
  /**
   * @brief Get field vz from global_position_int message
   *
   * @return [cm/s] Ground Z Speed (Altitude, positive down)
   */
  static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_int16_t(msg,  24);
  }
  
  /**
   * @brief Get field hdg from global_position_int message
   *
   * @return [cdeg] Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
   */
  static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
  {
      return _MAV_RETURN_uint16_t(msg,  26);
  }
  
  /**
   * @brief Decode a global_position_int message into a struct
   *
   * @param msg The message to decode
   * @param global_position_int C-struct to decode the message contents into
   */
  static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
      global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
      global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
      global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
      global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
      global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
      global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
      global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
      global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
      global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
  #else
          uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
          memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
      memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
  #endif
  }
  