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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE OPTICAL_FLOW PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_OPTICAL_FLOW 100 |
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| 4 | |||
| 5 | typedef struct __mavlink_optical_flow_t |
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| 6 | { |
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| 7 | uint64_t time; ///< Timestamp (UNIX) |
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| 8 | uint8_t sensor_id; ///< Sensor ID |
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| 9 | int16_t flow_x; ///< Flow in pixels in x-sensor direction |
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| 10 | int16_t flow_y; ///< Flow in pixels in y-sensor direction |
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| 11 | uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 12 | float ground_distance; ///< Ground distance in meters |
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| 13 | } mavlink_optical_flow_t; |
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| 14 | |||
| 15 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 |
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| 16 | #define MAVLINK_MSG_ID_100_LEN 18 |
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| 17 | |||
| 18 | |||
| 19 | |||
| 20 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ |
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| 21 | "OPTICAL_FLOW", \ |
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| 22 | 6, \ |
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| 23 | { { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \ |
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| 24 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \ |
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| 25 | { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \ |
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| 26 | { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \ |
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| 27 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \ |
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| 28 | { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \ |
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| 29 | } \ |
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| 30 | } |
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| 31 | |||
| 32 | |||
| 33 | /** |
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| 34 | * @brief Pack a optical_flow message |
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| 35 | * @param system_id ID of this system |
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| 36 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 37 | * @param msg The MAVLink message to compress the data into |
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| 38 | * |
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| 39 | * @param time Timestamp (UNIX) |
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| 40 | * @param sensor_id Sensor ID |
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| 41 | * @param flow_x Flow in pixels in x-sensor direction |
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| 42 | * @param flow_y Flow in pixels in y-sensor direction |
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| 43 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 44 | * @param ground_distance Ground distance in meters |
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| 45 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 46 | */ |
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| 47 | static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 48 | uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) |
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| 49 | { |
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| 50 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 51 | char buf[18]; |
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| 52 | _mav_put_uint64_t(buf, 0, time); |
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| 53 | _mav_put_uint8_t(buf, 8, sensor_id); |
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| 54 | _mav_put_int16_t(buf, 9, flow_x); |
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| 55 | _mav_put_int16_t(buf, 11, flow_y); |
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| 56 | _mav_put_uint8_t(buf, 13, quality); |
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| 57 | _mav_put_float(buf, 14, ground_distance); |
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| 58 | |||
| 59 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); |
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| 60 | #else |
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| 61 | mavlink_optical_flow_t packet; |
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| 62 | packet.time = time; |
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| 63 | packet.sensor_id = sensor_id; |
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| 64 | packet.flow_x = flow_x; |
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| 65 | packet.flow_y = flow_y; |
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| 66 | packet.quality = quality; |
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| 67 | packet.ground_distance = ground_distance; |
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| 68 | |||
| 69 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); |
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| 70 | #endif |
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| 71 | |||
| 72 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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| 73 | return mavlink_finalize_message(msg, system_id, component_id, 18); |
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| 74 | } |
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| 75 | |||
| 76 | /** |
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| 77 | * @brief Pack a optical_flow message on a channel |
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| 78 | * @param system_id ID of this system |
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| 79 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 80 | * @param chan The MAVLink channel this message was sent over |
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| 81 | * @param msg The MAVLink message to compress the data into |
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| 82 | * @param time Timestamp (UNIX) |
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| 83 | * @param sensor_id Sensor ID |
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| 84 | * @param flow_x Flow in pixels in x-sensor direction |
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| 85 | * @param flow_y Flow in pixels in y-sensor direction |
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| 86 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 87 | * @param ground_distance Ground distance in meters |
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| 88 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 89 | */ |
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| 90 | static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 91 | mavlink_message_t* msg, |
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| 92 | uint64_t time,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) |
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| 93 | { |
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| 94 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 95 | char buf[18]; |
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| 96 | _mav_put_uint64_t(buf, 0, time); |
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| 97 | _mav_put_uint8_t(buf, 8, sensor_id); |
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| 98 | _mav_put_int16_t(buf, 9, flow_x); |
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| 99 | _mav_put_int16_t(buf, 11, flow_y); |
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| 100 | _mav_put_uint8_t(buf, 13, quality); |
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| 101 | _mav_put_float(buf, 14, ground_distance); |
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| 102 | |||
| 103 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); |
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| 104 | #else |
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| 105 | mavlink_optical_flow_t packet; |
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| 106 | packet.time = time; |
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| 107 | packet.sensor_id = sensor_id; |
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| 108 | packet.flow_x = flow_x; |
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| 109 | packet.flow_y = flow_y; |
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| 110 | packet.quality = quality; |
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| 111 | packet.ground_distance = ground_distance; |
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| 112 | |||
| 113 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); |
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| 114 | #endif |
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| 115 | |||
| 116 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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| 117 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); |
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| 118 | } |
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| 119 | |||
| 120 | /** |
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| 121 | * @brief Encode a optical_flow struct into a message |
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| 122 | * |
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| 123 | * @param system_id ID of this system |
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| 124 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 125 | * @param msg The MAVLink message to compress the data into |
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| 126 | * @param optical_flow C-struct to read the message contents from |
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| 127 | */ |
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| 128 | static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow) |
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| 129 | { |
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| 130 | return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance); |
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| 131 | } |
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| 132 | |||
| 133 | /** |
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| 134 | * @brief Send a optical_flow message |
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| 135 | * @param chan MAVLink channel to send the message |
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| 136 | * |
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| 137 | * @param time Timestamp (UNIX) |
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| 138 | * @param sensor_id Sensor ID |
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| 139 | * @param flow_x Flow in pixels in x-sensor direction |
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| 140 | * @param flow_y Flow in pixels in y-sensor direction |
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| 141 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 142 | * @param ground_distance Ground distance in meters |
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| 143 | */ |
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| 144 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 145 | |||
| 146 | static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) |
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| 147 | { |
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| 148 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 149 | char buf[18]; |
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| 150 | _mav_put_uint64_t(buf, 0, time); |
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| 151 | _mav_put_uint8_t(buf, 8, sensor_id); |
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| 152 | _mav_put_int16_t(buf, 9, flow_x); |
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| 153 | _mav_put_int16_t(buf, 11, flow_y); |
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| 154 | _mav_put_uint8_t(buf, 13, quality); |
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| 155 | _mav_put_float(buf, 14, ground_distance); |
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| 156 | |||
| 157 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18); |
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| 158 | #else |
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| 159 | mavlink_optical_flow_t packet; |
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| 160 | packet.time = time; |
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| 161 | packet.sensor_id = sensor_id; |
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| 162 | packet.flow_x = flow_x; |
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| 163 | packet.flow_y = flow_y; |
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| 164 | packet.quality = quality; |
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| 165 | packet.ground_distance = ground_distance; |
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| 166 | |||
| 167 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18); |
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| 168 | #endif |
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| 169 | } |
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| 170 | |||
| 171 | #endif |
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| 172 | |||
| 173 | // MESSAGE OPTICAL_FLOW UNPACKING |
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| 174 | |||
| 175 | |||
| 176 | /** |
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| 177 | * @brief Get field time from optical_flow message |
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| 178 | * |
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| 179 | * @return Timestamp (UNIX) |
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| 180 | */ |
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| 181 | static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg) |
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| 182 | { |
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| 183 | return _MAV_RETURN_uint64_t(msg, 0); |
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| 184 | } |
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| 185 | |||
| 186 | /** |
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| 187 | * @brief Get field sensor_id from optical_flow message |
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| 188 | * |
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| 189 | * @return Sensor ID |
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| 190 | */ |
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| 191 | static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) |
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| 192 | { |
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| 193 | return _MAV_RETURN_uint8_t(msg, 8); |
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| 194 | } |
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| 195 | |||
| 196 | /** |
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| 197 | * @brief Get field flow_x from optical_flow message |
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| 198 | * |
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| 199 | * @return Flow in pixels in x-sensor direction |
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| 200 | */ |
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| 201 | static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) |
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| 202 | { |
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| 203 | return _MAV_RETURN_int16_t(msg, 9); |
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| 204 | } |
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| 205 | |||
| 206 | /** |
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| 207 | * @brief Get field flow_y from optical_flow message |
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| 208 | * |
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| 209 | * @return Flow in pixels in y-sensor direction |
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| 210 | */ |
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| 211 | static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) |
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| 212 | { |
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| 213 | return _MAV_RETURN_int16_t(msg, 11); |
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| 214 | } |
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| 215 | |||
| 216 | /** |
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| 217 | * @brief Get field quality from optical_flow message |
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| 218 | * |
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| 219 | * @return Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 220 | */ |
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| 221 | static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) |
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| 222 | { |
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| 223 | return _MAV_RETURN_uint8_t(msg, 13); |
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| 224 | } |
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| 225 | |||
| 226 | /** |
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| 227 | * @brief Get field ground_distance from optical_flow message |
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| 228 | * |
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| 229 | * @return Ground distance in meters |
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| 230 | */ |
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| 231 | static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) |
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| 232 | { |
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| 233 | return _MAV_RETURN_float(msg, 14); |
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| 234 | } |
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| 235 | |||
| 236 | /** |
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| 237 | * @brief Decode a optical_flow message into a struct |
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| 238 | * |
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| 239 | * @param msg The message to decode |
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| 240 | * @param optical_flow C-struct to decode the message contents into |
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| 241 | */ |
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| 242 | static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) |
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| 243 | { |
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| 244 | #if MAVLINK_NEED_BYTE_SWAP |
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| 245 | optical_flow->time = mavlink_msg_optical_flow_get_time(msg); |
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| 246 | optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); |
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| 247 | optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); |
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| 248 | optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); |
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| 249 | optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); |
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| 250 | optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); |
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| 251 | #else |
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| 252 | memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); |
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| 253 | #endif |
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| 254 | } |