MAVLinkPacket.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

package com.MAVLink;

import java.io.Serializable;
import com.MAVLink.Messages.MAVLinkPayload;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.ras_a.CRC;

import com.MAVLink.ras_a.*;
import com.MAVLink.development.*;
import com.MAVLink.common.*;
import com.MAVLink.standard.*;
import com.MAVLink.minimal.*;

/**
 * Common interface for all MAVLink Messages
 * Packet Anatomy
 * This is the anatomy of one packet. It is inspired by the CAN and SAE AS-4 standards.
 *
 * MAVLink 1 Packet Format
 *
 * Byte Index  Content              Value       Explanation
 * 0            Packet start sign  v1.0: 0xFE   Indicates the start of a new packet.  (v0.9: 0x55; v1.0: 0xFE; v2.0 0xFD)
 * 1            Payload length      0 - 255     Indicates length of the following payload.
 * 2            Packet sequence     0 - 255     Each component counts up its send sequence. Allows to detect packet loss
 * 3            System ID           1 - 255     ID of the SENDING system. Allows to differentiate different MAVs on the same network.
 * 4            Component ID        0 - 255     ID of the SENDING component. Allows to differentiate different components of the same system, e.g. the IMU and the autopilot.
 * 5            Message ID          0 - 255     ID of the message - the id defines what the payload means and how it should be correctly decoded.
 * 6 to (n+6)   Payload             0 - 255     Data of the message, depends on the message id.
 * (n+7)to(n+8) Checksum (low byte, high byte)  CRC16/MCRF4XX hash, excluding packet start sign, so bytes 1..(n+6) Note: The checksum also includes MAVLINK_CRC_EXTRA (Number computed from message fields. Protects the packet from decoding a different version of the same packet but with different variables).
 *
 * The checksum is the CRC16/MCRF4XX. Please see the MAVLink source code for a documented C-implementation of it. LINK TO CHECKSUM
 * The minimum packet length is 8 bytes for acknowledgement packets without payload
 * The maximum packet length is 263 bytes for full payload
 *
 *
 * MAVLink 2 Packet Format
 *
 * Byte Index     Content             Value              Explanation
 * 0              Packet start sign  v2.0: 0xFD          Indicates the start of a new packet.  (v0.9: 0x55; v1.0: 0xFE; v2.0 0xFD)
 * 1              Payload length      0 - 255            Indicates length of the following payload.
 * 2              Incompatible Flags  0 - 255            Flags that must be understood
 * 3              Compatible Flags    0 - 255            Flags that can be ignored if not understood
 * 4              Packet sequence     0 - 255            Each component counts up its send sequence. Allows to detect packet loss
 * 5              System ID           1 - 255            ID of the SENDING system. Allows to differentiate different MAVs on the same network.
 * 6              Component ID        0 - 255            ID of the SENDING component. Allows to differentiate different components of the same system, e.g. the IMU and the autopilot.
 * 7 to 9         Message ID          0 - 16777216       ID of the message - the id defines what the payload means and how it should be correctly decoded.
 * 10             Target System ID    1 - 255            (OPTIONAL) ID of the TARGET system. Only used for point-to-point mode
 * 11             Target Component ID 0 - 255            (OPTIONAL) ID of the TARGET component. Only used for point-to-point mode
 * 12 to (n+12)   Payload             0 - 255            Data of the message, depends on the message id.
 * (n+13)to(n+14) Checksum (low byte, high byte)         CRC16/MCRF4XX hash, excluding packet start sign, so bytes 1..(n+6) Note: The checksum also includes MAVLINK_CRC_EXTRA (Number computed from message fields. Protects the packet from decoding a different version of the same packet but with different variables).
 * (n+15)to(n+27) Signature (typeid, timestamp, sha256)  (OPTIONAL) Signature which allows ensuring that the link is tamper-proof; 13 bytes containing typeid (1 byte), timestamp (6 bytes), and last 6 bytes of SHA256 hash
 *
 * The signature is a combination of a typeid, timestamp, and SHA256 hash.
 * OPTIONAL fields mean that, if they are not used, they do not exist in the MAVLink frame at all. Typically target sysid and target compid are not used, and signature is only used if signing is set up between both ends.
 *
 * @see <a href="https://mavlink.io">mavlink.io</a> for more documentation on the MAVLink protocol
 */
public class MAVLinkPacket implements Serializable {
    private static final long serialVersionUID = 2095947771227815314L;

    public static final int MAVLINK_STX_MAVLINK1 = 0xFE; // 254
    public static final int MAVLINK_STX_MAVLINK2 = 0xFD; // 253
    public static final int MAVLINK1_HEADER_LEN = 6;
    public static final int MAVLINK2_HEADER_LEN = 10;
    public static final int MAVLINK1_NONPAYLOAD_LEN = MAVLINK1_HEADER_LEN + 2;
    public static final int MAVLINK2_NONPAYLOAD_LEN = MAVLINK2_HEADER_LEN + 2;

    static final boolean V = false;
    static void logv(String str) {
        if(V) System.out.println(String.format("MAVLinkPacket: %s", str));
    }

    /**
     * Payload length
     */
    public final int len;

    /**
     * Message sequence
     */
    public int seq;

    /**
     * ID of the SENDING system. Allows to differentiate different MAVs on the
     * same network.
     */
    public int sysid;

    /**
     * ID of the SENDING component. Allows to differentiate different components
     * of the same system, e.g. the IMU and the autopilot.
     */
    public int compid;

    /**
     * ID of the message - the id defines what the payload means and how it
     * should be correctly decoded.
     */
    public int msgid;

    /**
     * Data of the message, depends on the message id.
     */
    public MAVLinkPayload payload;

    /**
    * CRC-16/MCRF4XX hash, excluding packet start sign, so bytes 1..(n+HEADER-LENGTH)
    * Note: The checksum also includes MAVLINK_CRC_EXTRA (Number computed from
    * message fields. Protects the packet from decoding a different version of
    * the same packet but with different variables).
    */
    public CRC crc;

    // MAVLink 2.0 fields

    /**
     * Flag to indicate which MAVLink version this packet is
     */
    public boolean isMavlink2;

    /**
     * Flags that must be understood
     */
    public int incompatFlags;

    /**
     * Flags that can be ignored if not understood
     */
    public int compatFlags;

    public MAVLinkPacket(int payloadLength) {
        this(payloadLength, false);
    }

    public MAVLinkPacket(final int payloadLength, final boolean isMavlink2) {
        len = payloadLength;
        payload = new MAVLinkPayload();
        this.isMavlink2 = isMavlink2;
    }

    /**
     * Check if the size of the Payload is equal to the "len" byte
     */
    public boolean payloadIsFilled() {
        return payload.size() >= len;
    }

    /**
     * Update CRC for this packet.
     * @return boolean True if the CRC was successfully updated. Otherwise false
     */
    public boolean generateCRC(final int payloadSize) {
        if (crc == null) {
            crc = new CRC();
        } else {
            crc.start_checksum();
        }

        if (isMavlink2) {
            crc.update_checksum(payloadSize);
            crc.update_checksum(incompatFlags);
            crc.update_checksum(compatFlags);
            crc.update_checksum(seq);
            crc.update_checksum(sysid);
            crc.update_checksum(compid);
            crc.update_checksum(msgid);
            crc.update_checksum(msgid >>> 8);
            crc.update_checksum(msgid >>> 16);
        } else {
            crc.update_checksum(payloadSize);
            crc.update_checksum(seq);
            crc.update_checksum(sysid);
            crc.update_checksum(compid);
            crc.update_checksum(msgid);
        }

        payload.resetIndex();

        for (int i = 0; i < payloadSize; i++) {
            crc.update_checksum(payload.getByte());
        }
        return crc.finish_checksum(msgid);
    }

    /**
     * Return length of actual data after trimming zeros at the end.
     * @param payload
     * @return minimum length of valid data
     */
    private int mavTrimPayload(final byte[] payload)
    {
        int length = payload.length;
        while (length > 1 && payload[length-1] == 0) {
            length--;
        }
        return length;
    }

    /**
     * Encode this packet for transmission.
     *
     * @return Array with bytes to be transmitted
     */
    public byte[] encodePacket() {
        final int bufLen;
        final int payloadSize;

        if (isMavlink2) {
            payloadSize = mavTrimPayload(payload.payload.array());
            bufLen = MAVLINK2_HEADER_LEN + payloadSize + 2;
        } else {
            payloadSize = payload.size();
            bufLen = MAVLINK1_HEADER_LEN + payloadSize + 2;

        }
        byte[] buffer = new byte[bufLen];

        int i = 0;
        if (isMavlink2) {
            buffer[i++] = (byte) MAVLINK_STX_MAVLINK2;
            buffer[i++] = (byte) payloadSize;
            buffer[i++] = (byte) incompatFlags;
            buffer[i++] = (byte) compatFlags;
            buffer[i++] = (byte) seq;
            buffer[i++] = (byte) sysid;
            buffer[i++] = (byte) compid;
            buffer[i++] = (byte) (msgid & 0XFF);
            buffer[i++] = (byte) ((msgid >>> 8) & 0XFF);
            buffer[i++] = (byte) ((msgid >>> 16) & 0XFF);
        } else {
            buffer[i++] = (byte) MAVLINK_STX_MAVLINK1;
            buffer[i++] = (byte) payloadSize;
            buffer[i++] = (byte) seq;
            buffer[i++] = (byte) sysid;
            buffer[i++] = (byte) compid;
            buffer[i++] = (byte) msgid;
        }

        for (int j = 0; j < payloadSize; ++j) {
            buffer[i++] = payload.payload.get(j);
        }

        generateCRC(payloadSize);
        buffer[i++] = (byte) (crc.getLSB());
        buffer[i++] = (byte) (crc.getMSB());

        logv(String.format("encode: isMavlink2=%s msgid=%d", isMavlink2, msgid));

        return buffer;
    }
        
    /**
     * Unpack the data in this packet and return a MAVLink message
     *
     * @return MAVLink message decoded from this packet
     */
    public MAVLinkMessage unpack() {
        switch (msgid) {
                    case msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT:
                return  new msg_heartbeat(this);
                        case msg_sys_status.MAVLINK_MSG_ID_SYS_STATUS:
                return  new msg_sys_status(this);
                        case msg_system_time.MAVLINK_MSG_ID_SYSTEM_TIME:
                return  new msg_system_time(this);
                        case msg_ping.MAVLINK_MSG_ID_PING:
                return  new msg_ping(this);
                        case msg_change_operator_control.MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL:
                return  new msg_change_operator_control(this);
                        case msg_change_operator_control_ack.MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK:
                return  new msg_change_operator_control_ack(this);
                        case msg_auth_key.MAVLINK_MSG_ID_AUTH_KEY:
                return  new msg_auth_key(this);
                        case msg_link_node_status.MAVLINK_MSG_ID_LINK_NODE_STATUS:
                return  new msg_link_node_status(this);
                        case msg_set_mode.MAVLINK_MSG_ID_SET_MODE:
                return  new msg_set_mode(this);
                        case msg_param_ack_transaction.MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION:
                return  new msg_param_ack_transaction(this);
                        case msg_param_request_read.MAVLINK_MSG_ID_PARAM_REQUEST_READ:
                return  new msg_param_request_read(this);
                        case msg_param_request_list.MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
                return  new msg_param_request_list(this);
                        case msg_param_value.MAVLINK_MSG_ID_PARAM_VALUE:
                return  new msg_param_value(this);
                        case msg_param_set.MAVLINK_MSG_ID_PARAM_SET:
                return  new msg_param_set(this);
                        case msg_gps_raw_int.MAVLINK_MSG_ID_GPS_RAW_INT:
                return  new msg_gps_raw_int(this);
                        case msg_gps_status.MAVLINK_MSG_ID_GPS_STATUS:
                return  new msg_gps_status(this);
                        case msg_scaled_imu.MAVLINK_MSG_ID_SCALED_IMU:
                return  new msg_scaled_imu(this);
                        case msg_raw_imu.MAVLINK_MSG_ID_RAW_IMU:
                return  new msg_raw_imu(this);
                        case msg_raw_pressure.MAVLINK_MSG_ID_RAW_PRESSURE:
                return  new msg_raw_pressure(this);
                        case msg_scaled_pressure.MAVLINK_MSG_ID_SCALED_PRESSURE:
                return  new msg_scaled_pressure(this);
                        case msg_attitude.MAVLINK_MSG_ID_ATTITUDE:
                return  new msg_attitude(this);
                        case msg_attitude_quaternion.MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
                return  new msg_attitude_quaternion(this);
                        case msg_local_position_ned.MAVLINK_MSG_ID_LOCAL_POSITION_NED:
                return  new msg_local_position_ned(this);
                        case msg_global_position_int.MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
                return  new msg_global_position_int(this);
                        case msg_rc_channels_scaled.MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
                return  new msg_rc_channels_scaled(this);
                        case msg_rc_channels_raw.MAVLINK_MSG_ID_RC_CHANNELS_RAW:
                return  new msg_rc_channels_raw(this);
                        case msg_servo_output_raw.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
                return  new msg_servo_output_raw(this);
                        case msg_mission_request_partial_list.MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
                return  new msg_mission_request_partial_list(this);
                        case msg_mission_write_partial_list.MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
                return  new msg_mission_write_partial_list(this);
                        case msg_mission_item.MAVLINK_MSG_ID_MISSION_ITEM:
                return  new msg_mission_item(this);
                        case msg_mission_request.MAVLINK_MSG_ID_MISSION_REQUEST:
                return  new msg_mission_request(this);
                        case msg_mission_set_current.MAVLINK_MSG_ID_MISSION_SET_CURRENT:
                return  new msg_mission_set_current(this);
                        case msg_mission_current.MAVLINK_MSG_ID_MISSION_CURRENT:
                return  new msg_mission_current(this);
                        case msg_mission_request_list.MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
                return  new msg_mission_request_list(this);
                        case msg_mission_count.MAVLINK_MSG_ID_MISSION_COUNT:
                return  new msg_mission_count(this);
                        case msg_mission_clear_all.MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
                return  new msg_mission_clear_all(this);
                        case msg_mission_item_reached.MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
                return  new msg_mission_item_reached(this);
                        case msg_mission_ack.MAVLINK_MSG_ID_MISSION_ACK:
                return  new msg_mission_ack(this);
                        case msg_set_gps_global_origin.MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
                return  new msg_set_gps_global_origin(this);
                        case msg_gps_global_origin.MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
                return  new msg_gps_global_origin(this);
                        case msg_param_map_rc.MAVLINK_MSG_ID_PARAM_MAP_RC:
                return  new msg_param_map_rc(this);
                        case msg_mission_request_int.MAVLINK_MSG_ID_MISSION_REQUEST_INT:
                return  new msg_mission_request_int(this);
                        case msg_safety_set_allowed_area.MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA:
                return  new msg_safety_set_allowed_area(this);
                        case msg_safety_allowed_area.MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA:
                return  new msg_safety_allowed_area(this);
                        case msg_attitude_quaternion_cov.MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV:
                return  new msg_attitude_quaternion_cov(this);
                        case msg_nav_controller_output.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
                return  new msg_nav_controller_output(this);
                        case msg_global_position_int_cov.MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV:
                return  new msg_global_position_int_cov(this);
                        case msg_local_position_ned_cov.MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV:
                return  new msg_local_position_ned_cov(this);
                        case msg_rc_channels.MAVLINK_MSG_ID_RC_CHANNELS:
                return  new msg_rc_channels(this);
                        case msg_request_data_stream.MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
                return  new msg_request_data_stream(this);
                        case msg_data_stream.MAVLINK_MSG_ID_DATA_STREAM:
                return  new msg_data_stream(this);
                        case msg_manual_control.MAVLINK_MSG_ID_MANUAL_CONTROL:
                return  new msg_manual_control(this);
                        case msg_rc_channels_override.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
                return  new msg_rc_channels_override(this);
                        case msg_mission_item_int.MAVLINK_MSG_ID_MISSION_ITEM_INT:
                return  new msg_mission_item_int(this);
                        case msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD:
                return  new msg_vfr_hud(this);
                        case msg_command_int.MAVLINK_MSG_ID_COMMAND_INT:
                return  new msg_command_int(this);
                        case msg_command_long.MAVLINK_MSG_ID_COMMAND_LONG:
                return  new msg_command_long(this);
                        case msg_command_ack.MAVLINK_MSG_ID_COMMAND_ACK:
                return  new msg_command_ack(this);
                        case msg_command_cancel.MAVLINK_MSG_ID_COMMAND_CANCEL:
                return  new msg_command_cancel(this);
                        case msg_manual_setpoint.MAVLINK_MSG_ID_MANUAL_SETPOINT:
                return  new msg_manual_setpoint(this);
                        case msg_set_attitude_target.MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
                return  new msg_set_attitude_target(this);
                        case msg_attitude_target.MAVLINK_MSG_ID_ATTITUDE_TARGET:
                return  new msg_attitude_target(this);
                        case msg_set_position_target_local_ned.MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
                return  new msg_set_position_target_local_ned(this);
                        case msg_position_target_local_ned.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
                return  new msg_position_target_local_ned(this);
                        case msg_set_position_target_global_int.MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
                return  new msg_set_position_target_global_int(this);
                        case msg_position_target_global_int.MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
                return  new msg_position_target_global_int(this);
                        case msg_local_position_ned_system_global_offset.MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET:
                return  new msg_local_position_ned_system_global_offset(this);
                        case msg_hil_state.MAVLINK_MSG_ID_HIL_STATE:
                return  new msg_hil_state(this);
                        case msg_hil_controls.MAVLINK_MSG_ID_HIL_CONTROLS:
                return  new msg_hil_controls(this);
                        case msg_hil_rc_inputs_raw.MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW:
                return  new msg_hil_rc_inputs_raw(this);
                        case msg_hil_actuator_controls.MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
                return  new msg_hil_actuator_controls(this);
                        case msg_optical_flow.MAVLINK_MSG_ID_OPTICAL_FLOW:
                return  new msg_optical_flow(this);
                        case msg_global_vision_position_estimate.MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
                return  new msg_global_vision_position_estimate(this);
                        case msg_vision_position_estimate.MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
                return  new msg_vision_position_estimate(this);
                        case msg_vision_speed_estimate.MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE:
                return  new msg_vision_speed_estimate(this);
                        case msg_vicon_position_estimate.MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
                return  new msg_vicon_position_estimate(this);
                        case msg_highres_imu.MAVLINK_MSG_ID_HIGHRES_IMU:
                return  new msg_highres_imu(this);
                        case msg_optical_flow_rad.MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
                return  new msg_optical_flow_rad(this);
                        case msg_hil_sensor.MAVLINK_MSG_ID_HIL_SENSOR:
                return  new msg_hil_sensor(this);
                        case msg_sim_state.MAVLINK_MSG_ID_SIM_STATE:
                return  new msg_sim_state(this);
                        case msg_radio_status.MAVLINK_MSG_ID_RADIO_STATUS:
                return  new msg_radio_status(this);
                        case msg_file_transfer_protocol.MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
                return  new msg_file_transfer_protocol(this);
                        case msg_timesync.MAVLINK_MSG_ID_TIMESYNC:
                return  new msg_timesync(this);
                        case msg_camera_trigger.MAVLINK_MSG_ID_CAMERA_TRIGGER:
                return  new msg_camera_trigger(this);
                        case msg_hil_gps.MAVLINK_MSG_ID_HIL_GPS:
                return  new msg_hil_gps(this);
                        case msg_hil_optical_flow.MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
                return  new msg_hil_optical_flow(this);
                        case msg_hil_state_quaternion.MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
                return  new msg_hil_state_quaternion(this);
                        case msg_scaled_imu2.MAVLINK_MSG_ID_SCALED_IMU2:
                return  new msg_scaled_imu2(this);
                        case msg_log_request_list.MAVLINK_MSG_ID_LOG_REQUEST_LIST:
                return  new msg_log_request_list(this);
                        case msg_log_entry.MAVLINK_MSG_ID_LOG_ENTRY:
                return  new msg_log_entry(this);
                        case msg_log_request_data.MAVLINK_MSG_ID_LOG_REQUEST_DATA:
                return  new msg_log_request_data(this);
                        case msg_log_data.MAVLINK_MSG_ID_LOG_DATA:
                return  new msg_log_data(this);
                        case msg_log_erase.MAVLINK_MSG_ID_LOG_ERASE:
                return  new msg_log_erase(this);
                        case msg_log_request_end.MAVLINK_MSG_ID_LOG_REQUEST_END:
                return  new msg_log_request_end(this);
                        case msg_gps_inject_data.MAVLINK_MSG_ID_GPS_INJECT_DATA:
                return  new msg_gps_inject_data(this);
                        case msg_gps2_raw.MAVLINK_MSG_ID_GPS2_RAW:
                return  new msg_gps2_raw(this);
                        case msg_power_status.MAVLINK_MSG_ID_POWER_STATUS:
                return  new msg_power_status(this);
                        case msg_serial_control.MAVLINK_MSG_ID_SERIAL_CONTROL:
                return  new msg_serial_control(this);
                        case msg_gps_rtk.MAVLINK_MSG_ID_GPS_RTK:
                return  new msg_gps_rtk(this);
                        case msg_gps2_rtk.MAVLINK_MSG_ID_GPS2_RTK:
                return  new msg_gps2_rtk(this);
                        case msg_scaled_imu3.MAVLINK_MSG_ID_SCALED_IMU3:
                return  new msg_scaled_imu3(this);
                        case msg_data_transmission_handshake.MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
                return  new msg_data_transmission_handshake(this);
                        case msg_encapsulated_data.MAVLINK_MSG_ID_ENCAPSULATED_DATA:
                return  new msg_encapsulated_data(this);
                        case msg_distance_sensor.MAVLINK_MSG_ID_DISTANCE_SENSOR:
                return  new msg_distance_sensor(this);
                        case msg_terrain_request.MAVLINK_MSG_ID_TERRAIN_REQUEST:
                return  new msg_terrain_request(this);
                        case msg_terrain_data.MAVLINK_MSG_ID_TERRAIN_DATA:
                return  new msg_terrain_data(this);
                        case msg_terrain_check.MAVLINK_MSG_ID_TERRAIN_CHECK:
                return  new msg_terrain_check(this);
                        case msg_terrain_report.MAVLINK_MSG_ID_TERRAIN_REPORT:
                return  new msg_terrain_report(this);
                        case msg_scaled_pressure2.MAVLINK_MSG_ID_SCALED_PRESSURE2:
                return  new msg_scaled_pressure2(this);
                        case msg_att_pos_mocap.MAVLINK_MSG_ID_ATT_POS_MOCAP:
                return  new msg_att_pos_mocap(this);
                        case msg_set_actuator_control_target.MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
                return  new msg_set_actuator_control_target(this);
                        case msg_actuator_control_target.MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET:
                return  new msg_actuator_control_target(this);
                        case msg_altitude.MAVLINK_MSG_ID_ALTITUDE:
                return  new msg_altitude(this);
                        case msg_resource_request.MAVLINK_MSG_ID_RESOURCE_REQUEST:
                return  new msg_resource_request(this);
                        case msg_scaled_pressure3.MAVLINK_MSG_ID_SCALED_PRESSURE3:
                return  new msg_scaled_pressure3(this);
                        case msg_follow_target.MAVLINK_MSG_ID_FOLLOW_TARGET:
                return  new msg_follow_target(this);
                        case msg_control_system_state.MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE:
                return  new msg_control_system_state(this);
                        case msg_battery_status.MAVLINK_MSG_ID_BATTERY_STATUS:
                return  new msg_battery_status(this);
                        case msg_autopilot_version.MAVLINK_MSG_ID_AUTOPILOT_VERSION:
                return  new msg_autopilot_version(this);
                        case msg_landing_target.MAVLINK_MSG_ID_LANDING_TARGET:
                return  new msg_landing_target(this);
                        case msg_fence_status.MAVLINK_MSG_ID_FENCE_STATUS:
                return  new msg_fence_status(this);
                        case msg_mag_cal_report.MAVLINK_MSG_ID_MAG_CAL_REPORT:
                return  new msg_mag_cal_report(this);
                        case msg_efi_status.MAVLINK_MSG_ID_EFI_STATUS:
                return  new msg_efi_status(this);
                        case msg_estimator_status.MAVLINK_MSG_ID_ESTIMATOR_STATUS:
                return  new msg_estimator_status(this);
                        case msg_wind_cov.MAVLINK_MSG_ID_WIND_COV:
                return  new msg_wind_cov(this);
                        case msg_gps_input.MAVLINK_MSG_ID_GPS_INPUT:
                return  new msg_gps_input(this);
                        case msg_gps_rtcm_data.MAVLINK_MSG_ID_GPS_RTCM_DATA:
                return  new msg_gps_rtcm_data(this);
                        case msg_high_latency.MAVLINK_MSG_ID_HIGH_LATENCY:
                return  new msg_high_latency(this);
                        case msg_high_latency2.MAVLINK_MSG_ID_HIGH_LATENCY2:
                return  new msg_high_latency2(this);
                        case msg_vibration.MAVLINK_MSG_ID_VIBRATION:
                return  new msg_vibration(this);
                        case msg_home_position.MAVLINK_MSG_ID_HOME_POSITION:
                return  new msg_home_position(this);
                        case msg_set_home_position.MAVLINK_MSG_ID_SET_HOME_POSITION:
                return  new msg_set_home_position(this);
                        case msg_message_interval.MAVLINK_MSG_ID_MESSAGE_INTERVAL:
                return  new msg_message_interval(this);
                        case msg_extended_sys_state.MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
                return  new msg_extended_sys_state(this);
                        case msg_adsb_vehicle.MAVLINK_MSG_ID_ADSB_VEHICLE:
                return  new msg_adsb_vehicle(this);
                        case msg_collision.MAVLINK_MSG_ID_COLLISION:
                return  new msg_collision(this);
                        case msg_v2_extension.MAVLINK_MSG_ID_V2_EXTENSION:
                return  new msg_v2_extension(this);
                        case msg_memory_vect.MAVLINK_MSG_ID_MEMORY_VECT:
                return  new msg_memory_vect(this);
                        case msg_debug_vect.MAVLINK_MSG_ID_DEBUG_VECT:
                return  new msg_debug_vect(this);
                        case msg_named_value_float.MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
                return  new msg_named_value_float(this);
                        case msg_named_value_int.MAVLINK_MSG_ID_NAMED_VALUE_INT:
                return  new msg_named_value_int(this);
                        case msg_statustext.MAVLINK_MSG_ID_STATUSTEXT:
                return  new msg_statustext(this);
                        case msg_debug.MAVLINK_MSG_ID_DEBUG:
                return  new msg_debug(this);
                        case msg_setup_signing.MAVLINK_MSG_ID_SETUP_SIGNING:
                return  new msg_setup_signing(this);
                        case msg_button_change.MAVLINK_MSG_ID_BUTTON_CHANGE:
                return  new msg_button_change(this);
                        case msg_play_tune.MAVLINK_MSG_ID_PLAY_TUNE:
                return  new msg_play_tune(this);
                        case msg_camera_information.MAVLINK_MSG_ID_CAMERA_INFORMATION:
                return  new msg_camera_information(this);
                        case msg_camera_settings.MAVLINK_MSG_ID_CAMERA_SETTINGS:
                return  new msg_camera_settings(this);
                        case msg_storage_information.MAVLINK_MSG_ID_STORAGE_INFORMATION:
                return  new msg_storage_information(this);
                        case msg_camera_capture_status.MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
                return  new msg_camera_capture_status(this);
                        case msg_camera_image_captured.MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
                return  new msg_camera_image_captured(this);
                        case msg_flight_information.MAVLINK_MSG_ID_FLIGHT_INFORMATION:
                return  new msg_flight_information(this);
                        case msg_mount_orientation.MAVLINK_MSG_ID_MOUNT_ORIENTATION:
                return  new msg_mount_orientation(this);
                        case msg_logging_data.MAVLINK_MSG_ID_LOGGING_DATA:
                return  new msg_logging_data(this);
                        case msg_logging_data_acked.MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
                return  new msg_logging_data_acked(this);
                        case msg_logging_ack.MAVLINK_MSG_ID_LOGGING_ACK:
                return  new msg_logging_ack(this);
                        case msg_video_stream_information.MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION:
                return  new msg_video_stream_information(this);
                        case msg_video_stream_status.MAVLINK_MSG_ID_VIDEO_STREAM_STATUS:
                return  new msg_video_stream_status(this);
                        case msg_camera_fov_status.MAVLINK_MSG_ID_CAMERA_FOV_STATUS:
                return  new msg_camera_fov_status(this);
                        case msg_camera_tracking_image_status.MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS:
                return  new msg_camera_tracking_image_status(this);
                        case msg_camera_tracking_geo_status.MAVLINK_MSG_ID_CAMERA_TRACKING_GEO_STATUS:
                return  new msg_camera_tracking_geo_status(this);
                        case msg_gimbal_manager_information.MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION:
                return  new msg_gimbal_manager_information(this);
                        case msg_gimbal_manager_status.MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS:
                return  new msg_gimbal_manager_status(this);
                        case msg_gimbal_manager_set_attitude.MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE:
                return  new msg_gimbal_manager_set_attitude(this);
                        case msg_gimbal_device_information.MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
                return  new msg_gimbal_device_information(this);
                        case msg_gimbal_device_set_attitude.MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE:
                return  new msg_gimbal_device_set_attitude(this);
                        case msg_gimbal_device_attitude_status.MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
                return  new msg_gimbal_device_attitude_status(this);
                        case msg_autopilot_state_for_gimbal_device.MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE:
                return  new msg_autopilot_state_for_gimbal_device(this);
                        case msg_gimbal_manager_set_pitchyaw.MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_PITCHYAW:
                return  new msg_gimbal_manager_set_pitchyaw(this);
                        case msg_gimbal_manager_set_manual_control.MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_MANUAL_CONTROL:
                return  new msg_gimbal_manager_set_manual_control(this);
                        case msg_esc_info.MAVLINK_MSG_ID_ESC_INFO:
                return  new msg_esc_info(this);
                        case msg_esc_status.MAVLINK_MSG_ID_ESC_STATUS:
                return  new msg_esc_status(this);
                        case msg_airspeed.MAVLINK_MSG_ID_AIRSPEED:
                return  new msg_airspeed(this);
                        case msg_wifi_network_info.MAVLINK_MSG_ID_WIFI_NETWORK_INFO:
                return  new msg_wifi_network_info(this);
                        case msg_wifi_config_ap.MAVLINK_MSG_ID_WIFI_CONFIG_AP:
                return  new msg_wifi_config_ap(this);
                        case msg_protocol_version.MAVLINK_MSG_ID_PROTOCOL_VERSION:
                return  new msg_protocol_version(this);
                        case msg_ais_vessel.MAVLINK_MSG_ID_AIS_VESSEL:
                return  new msg_ais_vessel(this);
                        case msg_uavcan_node_status.MAVLINK_MSG_ID_UAVCAN_NODE_STATUS:
                return  new msg_uavcan_node_status(this);
                        case msg_uavcan_node_info.MAVLINK_MSG_ID_UAVCAN_NODE_INFO:
                return  new msg_uavcan_node_info(this);
                        case msg_param_ext_request_read.MAVLINK_MSG_ID_PARAM_EXT_REQUEST_READ:
                return  new msg_param_ext_request_read(this);
                        case msg_param_ext_request_list.MAVLINK_MSG_ID_PARAM_EXT_REQUEST_LIST:
                return  new msg_param_ext_request_list(this);
                        case msg_param_ext_value.MAVLINK_MSG_ID_PARAM_EXT_VALUE:
                return  new msg_param_ext_value(this);
                        case msg_param_ext_set.MAVLINK_MSG_ID_PARAM_EXT_SET:
                return  new msg_param_ext_set(this);
                        case msg_param_ext_ack.MAVLINK_MSG_ID_PARAM_EXT_ACK:
                return  new msg_param_ext_ack(this);
                        case msg_obstacle_distance.MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
                return  new msg_obstacle_distance(this);
                        case msg_odometry.MAVLINK_MSG_ID_ODOMETRY:
                return  new msg_odometry(this);
                        case msg_trajectory_representation_waypoints.MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
                return  new msg_trajectory_representation_waypoints(this);
                        case msg_trajectory_representation_bezier.MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
                return  new msg_trajectory_representation_bezier(this);
                        case msg_cellular_status.MAVLINK_MSG_ID_CELLULAR_STATUS:
                return  new msg_cellular_status(this);
                        case msg_isbd_link_status.MAVLINK_MSG_ID_ISBD_LINK_STATUS:
                return  new msg_isbd_link_status(this);
                        case msg_cellular_config.MAVLINK_MSG_ID_CELLULAR_CONFIG:
                return  new msg_cellular_config(this);
                        case msg_raw_rpm.MAVLINK_MSG_ID_RAW_RPM:
                return  new msg_raw_rpm(this);
                        case msg_utm_global_position.MAVLINK_MSG_ID_UTM_GLOBAL_POSITION:
                return  new msg_utm_global_position(this);
                        case msg_debug_float_array.MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY:
                return  new msg_debug_float_array(this);
                        case msg_orbit_execution_status.MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS:
                return  new msg_orbit_execution_status(this);
                        case msg_figure_eight_execution_status.MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS:
                return  new msg_figure_eight_execution_status(this);
                        case msg_battery_status_v2.MAVLINK_MSG_ID_BATTERY_STATUS_V2:
                return  new msg_battery_status_v2(this);
                        case msg_smart_battery_info.MAVLINK_MSG_ID_SMART_BATTERY_INFO:
                return  new msg_smart_battery_info(this);
                        case msg_generator_status.MAVLINK_MSG_ID_GENERATOR_STATUS:
                return  new msg_generator_status(this);
                        case msg_actuator_output_status.MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS:
                return  new msg_actuator_output_status(this);
                        case msg_time_estimate_to_target.MAVLINK_MSG_ID_TIME_ESTIMATE_TO_TARGET:
                return  new msg_time_estimate_to_target(this);
                        case msg_tunnel.MAVLINK_MSG_ID_TUNNEL:
                return  new msg_tunnel(this);
                        case msg_can_frame.MAVLINK_MSG_ID_CAN_FRAME:
                return  new msg_can_frame(this);
                        case msg_canfd_frame.MAVLINK_MSG_ID_CANFD_FRAME:
                return  new msg_canfd_frame(this);
                        case msg_can_filter_modify.MAVLINK_MSG_ID_CAN_FILTER_MODIFY:
                return  new msg_can_filter_modify(this);
                        case msg_onboard_computer_status.MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
                return  new msg_onboard_computer_status(this);
                        case msg_component_information.MAVLINK_MSG_ID_COMPONENT_INFORMATION:
                return  new msg_component_information(this);
                        case msg_component_information_basic.MAVLINK_MSG_ID_COMPONENT_INFORMATION_BASIC:
                return  new msg_component_information_basic(this);
                        case msg_component_metadata.MAVLINK_MSG_ID_COMPONENT_METADATA:
                return  new msg_component_metadata(this);
                        case msg_play_tune_v2.MAVLINK_MSG_ID_PLAY_TUNE_V2:
                return  new msg_play_tune_v2(this);
                        case msg_supported_tunes.MAVLINK_MSG_ID_SUPPORTED_TUNES:
                return  new msg_supported_tunes(this);
                        case msg_event.MAVLINK_MSG_ID_EVENT:
                return  new msg_event(this);
                        case msg_current_event_sequence.MAVLINK_MSG_ID_CURRENT_EVENT_SEQUENCE:
                return  new msg_current_event_sequence(this);
                        case msg_request_event.MAVLINK_MSG_ID_REQUEST_EVENT:
                return  new msg_request_event(this);
                        case msg_response_event_error.MAVLINK_MSG_ID_RESPONSE_EVENT_ERROR:
                return  new msg_response_event_error(this);
                        case msg_group_start.MAVLINK_MSG_ID_GROUP_START:
                return  new msg_group_start(this);
                        case msg_group_end.MAVLINK_MSG_ID_GROUP_END:
                return  new msg_group_end(this);
                        case msg_available_modes.MAVLINK_MSG_ID_AVAILABLE_MODES:
                return  new msg_available_modes(this);
                        case msg_current_mode.MAVLINK_MSG_ID_CURRENT_MODE:
                return  new msg_current_mode(this);
                        case msg_available_modes_monitor.MAVLINK_MSG_ID_AVAILABLE_MODES_MONITOR:
                return  new msg_available_modes_monitor(this);
                        case msg_target_absolute.MAVLINK_MSG_ID_TARGET_ABSOLUTE:
                return  new msg_target_absolute(this);
                        case msg_target_relative.MAVLINK_MSG_ID_TARGET_RELATIVE:
                return  new msg_target_relative(this);
                        case msg_wheel_distance.MAVLINK_MSG_ID_WHEEL_DISTANCE:
                return  new msg_wheel_distance(this);
                        case msg_winch_status.MAVLINK_MSG_ID_WINCH_STATUS:
                return  new msg_winch_status(this);
                        case msg_open_drone_id_basic_id.MAVLINK_MSG_ID_OPEN_DRONE_ID_BASIC_ID:
                return  new msg_open_drone_id_basic_id(this);
                        case msg_open_drone_id_location.MAVLINK_MSG_ID_OPEN_DRONE_ID_LOCATION:
                return  new msg_open_drone_id_location(this);
                        case msg_open_drone_id_authentication.MAVLINK_MSG_ID_OPEN_DRONE_ID_AUTHENTICATION:
                return  new msg_open_drone_id_authentication(this);
                        case msg_open_drone_id_self_id.MAVLINK_MSG_ID_OPEN_DRONE_ID_SELF_ID:
                return  new msg_open_drone_id_self_id(this);
                        case msg_open_drone_id_system.MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM:
                return  new msg_open_drone_id_system(this);
                        case msg_open_drone_id_operator_id.MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID:
                return  new msg_open_drone_id_operator_id(this);
                        case msg_open_drone_id_message_pack.MAVLINK_MSG_ID_OPEN_DRONE_ID_MESSAGE_PACK:
                return  new msg_open_drone_id_message_pack(this);
                        case msg_open_drone_id_arm_status.MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS:
                return  new msg_open_drone_id_arm_status(this);
                        case msg_open_drone_id_system_update.MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM_UPDATE:
                return  new msg_open_drone_id_system_update(this);
                        case msg_hygrometer_sensor.MAVLINK_MSG_ID_HYGROMETER_SENSOR:
                return  new msg_hygrometer_sensor(this);
                        case msg_poi_report.MAVLINK_MSG_ID_POI_REPORT:
                return  new msg_poi_report(this);
                        case msg_exploration_status.MAVLINK_MSG_ID_EXPLORATION_STATUS:
                return  new msg_exploration_status(this);
                        case msg_exploration_info.MAVLINK_MSG_ID_EXPLORATION_INFO:
                return  new msg_exploration_info(this);
                        case msg_exploration_return_position.MAVLINK_MSG_ID_EXPLORATION_RETURN_POSITION:
                return  new msg_exploration_return_position(this);
            
            default:
                return null;
        }
    }

}