MissionPlanner.MAVLinkInterface.setPositionTargetGlobalInt C# (CSharp) Method

        public void setPositionTargetGlobalInt(byte sysid, byte compid, bool pos, bool vel, bool acc, MAV_FRAME frame, double lat, double lng, double alt, double vx, double vy, double vz)
        {
            // for mavlink SET_POSITION_TARGET messages
            const ushort MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE = ((1 << 0) | (1 << 1) | (1 << 2));
            const ushort MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE = ((1 << 3) | (1 << 4) | (1 << 5));
            const ushort MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE = ((1 << 6) | (1 << 7) | (1 << 8));

            mavlink_set_position_target_global_int_t target = new mavlink_set_position_target_global_int_t()
            {
                target_system = sysid,
                target_component = compid,
                alt = (float) alt,
                lat_int = (int) (lat*1e7),
                lon_int = (int) (lng*1e7),
                coordinate_frame = (byte) frame,
                vx = (float) vx,
                vy = (float) vy,
                vz = (float) vz
            };

            target.type_mask = 7 + 56 + 448;

            if (pos)
                target.type_mask -= 7;
            if (vel)
                target.type_mask -= 56;
            if (acc)
                target.type_mask -= 448;

            bool pos_ignore = (target.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE)>0;
            bool vel_ignore = (target.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE)>0;
            bool acc_ignore = (target.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE)>0;

            generatePacket((byte)MAVLINK_MSG_ID.SET_POSITION_TARGET_GLOBAL_INT, target, sysid, compid);
        }