#pragma once
// MESSAGE PID_TUNING PACKING

#define MAVLINK_MSG_ID_PID_TUNING 194

MAVPACKED(
typedef struct __mavlink_pid_tuning_t {
 float desired; /*<  Desired rate.*/
 float achieved; /*<  Achieved rate.*/
 float FF; /*<  FF component.*/
 float P; /*<  P component.*/
 float I; /*<  I component.*/
 float D; /*<  D component.*/
 uint8_t axis; /*<  Axis.*/
 float SRate; /*<  Slew rate.*/
 float PDmod; /*<  P/D oscillation modifier.*/
}) mavlink_pid_tuning_t;

#define MAVLINK_MSG_ID_PID_TUNING_LEN 33
#define MAVLINK_MSG_ID_PID_TUNING_MIN_LEN 25
#define MAVLINK_MSG_ID_194_LEN 33
#define MAVLINK_MSG_ID_194_MIN_LEN 25

#define MAVLINK_MSG_ID_PID_TUNING_CRC 98
#define MAVLINK_MSG_ID_194_CRC 98



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_PID_TUNING { \
    194, \
    "PID_TUNING", \
    9, \
    {  { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_pid_tuning_t, axis) }, \
         { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pid_tuning_t, desired) }, \
         { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pid_tuning_t, achieved) }, \
         { "FF", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_pid_tuning_t, FF) }, \
         { "P", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_pid_tuning_t, P) }, \
         { "I", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_pid_tuning_t, I) }, \
         { "D", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_pid_tuning_t, D) }, \
         { "SRate", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_pid_tuning_t, SRate) }, \
         { "PDmod", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_pid_tuning_t, PDmod) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_PID_TUNING { \
    "PID_TUNING", \
    9, \
    {  { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_pid_tuning_t, axis) }, \
         { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pid_tuning_t, desired) }, \
         { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pid_tuning_t, achieved) }, \
         { "FF", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_pid_tuning_t, FF) }, \
         { "P", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_pid_tuning_t, P) }, \
         { "I", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_pid_tuning_t, I) }, \
         { "D", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_pid_tuning_t, D) }, \
         { "SRate", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_pid_tuning_t, SRate) }, \
         { "PDmod", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_pid_tuning_t, PDmod) }, \
         } \
}
#endif

/**
 * @brief Pack a pid_tuning 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 axis  Axis.
 * @param desired  Desired rate.
 * @param achieved  Achieved rate.
 * @param FF  FF component.
 * @param P  P component.
 * @param I  I component.
 * @param D  D component.
 * @param SRate  Slew rate.
 * @param PDmod  P/D oscillation modifier.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_pid_tuning_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint8_t axis, float desired, float achieved, float FF, float P, float I, float D, float SRate, float PDmod)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
    _mav_put_float(buf, 0, desired);
    _mav_put_float(buf, 4, achieved);
    _mav_put_float(buf, 8, FF);
    _mav_put_float(buf, 12, P);
    _mav_put_float(buf, 16, I);
    _mav_put_float(buf, 20, D);
    _mav_put_uint8_t(buf, 24, axis);
    _mav_put_float(buf, 25, SRate);
    _mav_put_float(buf, 29, PDmod);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#else
    mavlink_pid_tuning_t packet;
    packet.desired = desired;
    packet.achieved = achieved;
    packet.FF = FF;
    packet.P = P;
    packet.I = I;
    packet.D = D;
    packet.axis = axis;
    packet.SRate = SRate;
    packet.PDmod = PDmod;

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

    msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
}

/**
 * @brief Pack a pid_tuning 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 axis  Axis.
 * @param desired  Desired rate.
 * @param achieved  Achieved rate.
 * @param FF  FF component.
 * @param P  P component.
 * @param I  I component.
 * @param D  D component.
 * @param SRate  Slew rate.
 * @param PDmod  P/D oscillation modifier.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_pid_tuning_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint8_t axis,float desired,float achieved,float FF,float P,float I,float D,float SRate,float PDmod)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
    _mav_put_float(buf, 0, desired);
    _mav_put_float(buf, 4, achieved);
    _mav_put_float(buf, 8, FF);
    _mav_put_float(buf, 12, P);
    _mav_put_float(buf, 16, I);
    _mav_put_float(buf, 20, D);
    _mav_put_uint8_t(buf, 24, axis);
    _mav_put_float(buf, 25, SRate);
    _mav_put_float(buf, 29, PDmod);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PID_TUNING_LEN);
#else
    mavlink_pid_tuning_t packet;
    packet.desired = desired;
    packet.achieved = achieved;
    packet.FF = FF;
    packet.P = P;
    packet.I = I;
    packet.D = D;
    packet.axis = axis;
    packet.SRate = SRate;
    packet.PDmod = PDmod;

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

    msg->msgid = MAVLINK_MSG_ID_PID_TUNING;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
}

/**
 * @brief Encode a pid_tuning 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 pid_tuning C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_pid_tuning_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
{
    return mavlink_msg_pid_tuning_pack(system_id, component_id, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D, pid_tuning->SRate, pid_tuning->PDmod);
}

/**
 * @brief Encode a pid_tuning 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 pid_tuning C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_pid_tuning_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_pid_tuning_t* pid_tuning)
{
    return mavlink_msg_pid_tuning_pack_chan(system_id, component_id, chan, msg, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D, pid_tuning->SRate, pid_tuning->PDmod);
}

/**
 * @brief Send a pid_tuning message
 * @param chan MAVLink channel to send the message
 *
 * @param axis  Axis.
 * @param desired  Desired rate.
 * @param achieved  Achieved rate.
 * @param FF  FF component.
 * @param P  P component.
 * @param I  I component.
 * @param D  D component.
 * @param SRate  Slew rate.
 * @param PDmod  P/D oscillation modifier.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_pid_tuning_send(mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float FF, float P, float I, float D, float SRate, float PDmod)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_PID_TUNING_LEN];
    _mav_put_float(buf, 0, desired);
    _mav_put_float(buf, 4, achieved);
    _mav_put_float(buf, 8, FF);
    _mav_put_float(buf, 12, P);
    _mav_put_float(buf, 16, I);
    _mav_put_float(buf, 20, D);
    _mav_put_uint8_t(buf, 24, axis);
    _mav_put_float(buf, 25, SRate);
    _mav_put_float(buf, 29, PDmod);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
    mavlink_pid_tuning_t packet;
    packet.desired = desired;
    packet.achieved = achieved;
    packet.FF = FF;
    packet.P = P;
    packet.I = I;
    packet.D = D;
    packet.axis = axis;
    packet.SRate = SRate;
    packet.PDmod = PDmod;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)&packet, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#endif
}

/**
 * @brief Send a pid_tuning message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_pid_tuning_send_struct(mavlink_channel_t chan, const mavlink_pid_tuning_t* pid_tuning)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_pid_tuning_send(chan, pid_tuning->axis, pid_tuning->desired, pid_tuning->achieved, pid_tuning->FF, pid_tuning->P, pid_tuning->I, pid_tuning->D, pid_tuning->SRate, pid_tuning->PDmod);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)pid_tuning, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#endif
}

#if MAVLINK_MSG_ID_PID_TUNING_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_pid_tuning_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t axis, float desired, float achieved, float FF, float P, float I, float D, float SRate, float PDmod)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_float(buf, 0, desired);
    _mav_put_float(buf, 4, achieved);
    _mav_put_float(buf, 8, FF);
    _mav_put_float(buf, 12, P);
    _mav_put_float(buf, 16, I);
    _mav_put_float(buf, 20, D);
    _mav_put_uint8_t(buf, 24, axis);
    _mav_put_float(buf, 25, SRate);
    _mav_put_float(buf, 29, PDmod);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, buf, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#else
    mavlink_pid_tuning_t *packet = (mavlink_pid_tuning_t *)msgbuf;
    packet->desired = desired;
    packet->achieved = achieved;
    packet->FF = FF;
    packet->P = P;
    packet->I = I;
    packet->D = D;
    packet->axis = axis;
    packet->SRate = SRate;
    packet->PDmod = PDmod;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PID_TUNING, (const char *)packet, MAVLINK_MSG_ID_PID_TUNING_MIN_LEN, MAVLINK_MSG_ID_PID_TUNING_LEN, MAVLINK_MSG_ID_PID_TUNING_CRC);
#endif
}
#endif

#endif

// MESSAGE PID_TUNING UNPACKING


/**
 * @brief Get field axis from pid_tuning message
 *
 * @return  Axis.
 */
static inline uint8_t mavlink_msg_pid_tuning_get_axis(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  24);
}

/**
 * @brief Get field desired from pid_tuning message
 *
 * @return  Desired rate.
 */
static inline float mavlink_msg_pid_tuning_get_desired(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  0);
}

/**
 * @brief Get field achieved from pid_tuning message
 *
 * @return  Achieved rate.
 */
static inline float mavlink_msg_pid_tuning_get_achieved(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  4);
}

/**
 * @brief Get field FF from pid_tuning message
 *
 * @return  FF component.
 */
static inline float mavlink_msg_pid_tuning_get_FF(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field P from pid_tuning message
 *
 * @return  P component.
 */
static inline float mavlink_msg_pid_tuning_get_P(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field I from pid_tuning message
 *
 * @return  I component.
 */
static inline float mavlink_msg_pid_tuning_get_I(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field D from pid_tuning message
 *
 * @return  D component.
 */
static inline float mavlink_msg_pid_tuning_get_D(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field SRate from pid_tuning message
 *
 * @return  Slew rate.
 */
static inline float mavlink_msg_pid_tuning_get_SRate(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  25);
}

/**
 * @brief Get field PDmod from pid_tuning message
 *
 * @return  P/D oscillation modifier.
 */
static inline float mavlink_msg_pid_tuning_get_PDmod(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  29);
}

/**
 * @brief Decode a pid_tuning message into a struct
 *
 * @param msg The message to decode
 * @param pid_tuning C-struct to decode the message contents into
 */
static inline void mavlink_msg_pid_tuning_decode(const mavlink_message_t* msg, mavlink_pid_tuning_t* pid_tuning)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    pid_tuning->desired = mavlink_msg_pid_tuning_get_desired(msg);
    pid_tuning->achieved = mavlink_msg_pid_tuning_get_achieved(msg);
    pid_tuning->FF = mavlink_msg_pid_tuning_get_FF(msg);
    pid_tuning->P = mavlink_msg_pid_tuning_get_P(msg);
    pid_tuning->I = mavlink_msg_pid_tuning_get_I(msg);
    pid_tuning->D = mavlink_msg_pid_tuning_get_D(msg);
    pid_tuning->axis = mavlink_msg_pid_tuning_get_axis(msg);
    pid_tuning->SRate = mavlink_msg_pid_tuning_get_SRate(msg);
    pid_tuning->PDmod = mavlink_msg_pid_tuning_get_PDmod(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_PID_TUNING_LEN? msg->len : MAVLINK_MSG_ID_PID_TUNING_LEN;
        memset(pid_tuning, 0, MAVLINK_MSG_ID_PID_TUNING_LEN);
    memcpy(pid_tuning, _MAV_PAYLOAD(msg), len);
#endif
}
