// MESSAGE SET_MODE PACKING

#define MAVLINK_MSG_ID_SET_MODE 11

typedef struct __mavlink_set_mode_t
{
 uint32_t custom_mode; ///< The new autopilot-specific mode. This field can be ignored by an autopilot.
 uint8_t target_system; ///< The system setting the mode
 uint8_t base_mode; ///< The new base mode
} mavlink_set_mode_t;

#define MAVLINK_MSG_ID_SET_MODE_LEN 6
#define MAVLINK_MSG_ID_11_LEN 6

#define MAVLINK_MSG_ID_SET_MODE_CRC 89
#define MAVLINK_MSG_ID_11_CRC 89



#define MAVLINK_MESSAGE_INFO_SET_MODE { \
	"SET_MODE", \
	3, \
	{  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
         } \
}


/**
 * @brief Pack a set_mode message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param target_system The system setting the mode
 * @param base_mode The new base mode
 * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
						       uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, target_system);
	_mav_put_uint8_t(buf, 5, base_mode);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
#else
	mavlink_set_mode_t packet;
	packet.custom_mode = custom_mode;
	packet.target_system = target_system;
	packet.base_mode = base_mode;

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

	msg->msgid = MAVLINK_MSG_ID_SET_MODE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
}

/**
 * @brief Pack a set_mode 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 target_system The system setting the mode
 * @param base_mode The new base mode
 * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
						           uint8_t target_system,uint8_t base_mode,uint32_t custom_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, target_system);
	_mav_put_uint8_t(buf, 5, base_mode);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
#else
	mavlink_set_mode_t packet;
	packet.custom_mode = custom_mode;
	packet.target_system = target_system;
	packet.base_mode = base_mode;

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

	msg->msgid = MAVLINK_MSG_ID_SET_MODE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
}

/**
 * @brief Encode a set_mode 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 set_mode C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
{
	return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
}

/**
 * @brief Encode a set_mode 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 set_mode C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_set_mode_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
{
	return mavlink_msg_set_mode_pack_chan(system_id, component_id, chan, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
}

/**
 * @brief Send a set_mode message
 * @param chan MAVLink channel to send the message
 *
 * @param target_system The system setting the mode
 * @param base_mode The new base mode
 * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, target_system);
	_mav_put_uint8_t(buf, 5, base_mode);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
#else
	mavlink_set_mode_t packet;
	packet.custom_mode = custom_mode;
	packet.target_system = target_system;
	packet.base_mode = base_mode;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_SET_MODE_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_set_mode_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char *buf = (char *)msgbuf;
	_mav_put_uint32_t(buf, 0, custom_mode);
	_mav_put_uint8_t(buf, 4, target_system);
	_mav_put_uint8_t(buf, 5, base_mode);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
#else
	mavlink_set_mode_t *packet = (mavlink_set_mode_t *)msgbuf;
	packet->custom_mode = custom_mode;
	packet->target_system = target_system;
	packet->base_mode = base_mode;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)packet, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)packet, MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE SET_MODE UNPACKING


/**
 * @brief Get field target_system from set_mode message
 *
 * @return The system setting the mode
 */
static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t* msg)
{
	return _MAV_RETURN_uint8_t(msg,  4);
}

/**
 * @brief Get field base_mode from set_mode message
 *
 * @return The new base mode
 */
static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t* msg)
{
	return _MAV_RETURN_uint8_t(msg,  5);
}

/**
 * @brief Get field custom_mode from set_mode message
 *
 * @return The new autopilot-specific mode. This field can be ignored by an autopilot.
 */
static inline uint32_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t* msg)
{
	return _MAV_RETURN_uint32_t(msg,  0);
}

/**
 * @brief Decode a set_mode message into a struct
 *
 * @param msg The message to decode
 * @param set_mode C-struct to decode the message contents into
 */
static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
{
#if MAVLINK_NEED_BYTE_SWAP
	set_mode->custom_mode = mavlink_msg_set_mode_get_custom_mode(msg);
	set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg);
	set_mode->base_mode = mavlink_msg_set_mode_get_base_mode(msg);
#else
	memcpy(set_mode, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_MODE_LEN);
#endif
}
