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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_usec; ///< Timestamp (UNIX) |
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| 8 | float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated |
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| 9 | float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated |
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| 10 | float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance |
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| 11 | int16_t flow_x; ///< Flow in pixels in x-sensor direction |
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| 12 | int16_t flow_y; ///< Flow in pixels in y-sensor direction |
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| 13 | uint8_t sensor_id; ///< Sensor ID |
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| 14 | uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 15 | } mavlink_optical_flow_t; |
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| 16 | |||
| 17 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26 |
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| 18 | #define MAVLINK_MSG_ID_100_LEN 26 |
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| 19 | |||
| 20 | |||
| 21 | |||
| 22 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ |
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| 23 | "OPTICAL_FLOW", \ |
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| 24 | 8, \ |
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| 25 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \ |
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| 26 | { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \ |
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| 27 | { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \ |
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| 28 | { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \ |
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| 29 | { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \ |
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| 30 | { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \ |
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| 31 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \ |
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| 32 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \ |
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| 33 | } \ |
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| 34 | } |
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| 35 | |||
| 36 | |||
| 37 | /** |
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| 38 | * @brief Pack a optical_flow message |
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| 39 | * @param system_id ID of this system |
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| 40 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 41 | * @param msg The MAVLink message to compress the data into |
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| 42 | * |
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| 43 | * @param time_usec Timestamp (UNIX) |
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| 44 | * @param sensor_id Sensor ID |
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| 45 | * @param flow_x Flow in pixels in x-sensor direction |
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| 46 | * @param flow_y Flow in pixels in y-sensor direction |
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| 47 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated |
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| 48 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated |
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| 49 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 50 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance |
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| 51 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 52 | */ |
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| 53 | 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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| 54 | uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) |
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| 55 | { |
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| 56 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 57 | char buf[26]; |
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| 58 | _mav_put_uint64_t(buf, 0, time_usec); |
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| 59 | _mav_put_float(buf, 8, flow_comp_m_x); |
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| 60 | _mav_put_float(buf, 12, flow_comp_m_y); |
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| 61 | _mav_put_float(buf, 16, ground_distance); |
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| 62 | _mav_put_int16_t(buf, 20, flow_x); |
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| 63 | _mav_put_int16_t(buf, 22, flow_y); |
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| 64 | _mav_put_uint8_t(buf, 24, sensor_id); |
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| 65 | _mav_put_uint8_t(buf, 25, quality); |
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| 66 | |||
| 67 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
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| 68 | #else |
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| 69 | mavlink_optical_flow_t packet; |
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| 70 | packet.time_usec = time_usec; |
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| 71 | packet.flow_comp_m_x = flow_comp_m_x; |
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| 72 | packet.flow_comp_m_y = flow_comp_m_y; |
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| 73 | packet.ground_distance = ground_distance; |
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| 74 | packet.flow_x = flow_x; |
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| 75 | packet.flow_y = flow_y; |
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| 76 | packet.sensor_id = sensor_id; |
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| 77 | packet.quality = quality; |
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| 78 | |||
| 79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
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| 80 | #endif |
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| 81 | |||
| 82 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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| 83 | return mavlink_finalize_message(msg, system_id, component_id, 26, 175); |
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| 84 | } |
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| 85 | |||
| 86 | /** |
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| 87 | * @brief Pack a optical_flow message on a channel |
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| 88 | * @param system_id ID of this system |
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| 89 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 90 | * @param chan The MAVLink channel this message was sent over |
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| 91 | * @param msg The MAVLink message to compress the data into |
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| 92 | * @param time_usec Timestamp (UNIX) |
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| 93 | * @param sensor_id Sensor ID |
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| 94 | * @param flow_x Flow in pixels in x-sensor direction |
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| 95 | * @param flow_y Flow in pixels in y-sensor direction |
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| 96 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated |
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| 97 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated |
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| 98 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 99 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance |
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| 100 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 101 | */ |
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| 102 | 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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| 103 | mavlink_message_t* msg, |
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| 104 | uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance) |
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| 105 | { |
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| 106 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 107 | char buf[26]; |
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| 108 | _mav_put_uint64_t(buf, 0, time_usec); |
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| 109 | _mav_put_float(buf, 8, flow_comp_m_x); |
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| 110 | _mav_put_float(buf, 12, flow_comp_m_y); |
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| 111 | _mav_put_float(buf, 16, ground_distance); |
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| 112 | _mav_put_int16_t(buf, 20, flow_x); |
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| 113 | _mav_put_int16_t(buf, 22, flow_y); |
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| 114 | _mav_put_uint8_t(buf, 24, sensor_id); |
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| 115 | _mav_put_uint8_t(buf, 25, quality); |
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| 116 | |||
| 117 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
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| 118 | #else |
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| 119 | mavlink_optical_flow_t packet; |
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| 120 | packet.time_usec = time_usec; |
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| 121 | packet.flow_comp_m_x = flow_comp_m_x; |
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| 122 | packet.flow_comp_m_y = flow_comp_m_y; |
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| 123 | packet.ground_distance = ground_distance; |
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| 124 | packet.flow_x = flow_x; |
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| 125 | packet.flow_y = flow_y; |
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| 126 | packet.sensor_id = sensor_id; |
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| 127 | packet.quality = quality; |
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| 128 | |||
| 129 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
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| 130 | #endif |
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| 131 | |||
| 132 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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| 133 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 175); |
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| 134 | } |
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| 135 | |||
| 136 | /** |
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| 137 | * @brief Encode a optical_flow struct into a message |
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| 138 | * |
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| 139 | * @param system_id ID of this system |
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| 140 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 141 | * @param msg The MAVLink message to compress the data into |
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| 142 | * @param optical_flow C-struct to read the message contents from |
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| 143 | */ |
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| 144 | 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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| 145 | { |
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| 146 | return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance); |
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| 147 | } |
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| 148 | |||
| 149 | /** |
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| 150 | * @brief Send a optical_flow message |
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| 151 | * @param chan MAVLink channel to send the message |
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| 152 | * |
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| 153 | * @param time_usec Timestamp (UNIX) |
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| 154 | * @param sensor_id Sensor ID |
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| 155 | * @param flow_x Flow in pixels in x-sensor direction |
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| 156 | * @param flow_y Flow in pixels in y-sensor direction |
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| 157 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated |
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| 158 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated |
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| 159 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 160 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance |
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| 161 | */ |
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| 162 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 163 | |||
| 164 | static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) |
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| 165 | { |
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| 166 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 167 | char buf[26]; |
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| 168 | _mav_put_uint64_t(buf, 0, time_usec); |
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| 169 | _mav_put_float(buf, 8, flow_comp_m_x); |
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| 170 | _mav_put_float(buf, 12, flow_comp_m_y); |
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| 171 | _mav_put_float(buf, 16, ground_distance); |
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| 172 | _mav_put_int16_t(buf, 20, flow_x); |
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| 173 | _mav_put_int16_t(buf, 22, flow_y); |
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| 174 | _mav_put_uint8_t(buf, 24, sensor_id); |
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| 175 | _mav_put_uint8_t(buf, 25, quality); |
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| 176 | |||
| 177 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 26, 175); |
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| 178 | #else |
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| 179 | mavlink_optical_flow_t packet; |
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| 180 | packet.time_usec = time_usec; |
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| 181 | packet.flow_comp_m_x = flow_comp_m_x; |
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| 182 | packet.flow_comp_m_y = flow_comp_m_y; |
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| 183 | packet.ground_distance = ground_distance; |
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| 184 | packet.flow_x = flow_x; |
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| 185 | packet.flow_y = flow_y; |
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| 186 | packet.sensor_id = sensor_id; |
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| 187 | packet.quality = quality; |
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| 188 | |||
| 189 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 26, 175); |
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| 190 | #endif |
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| 191 | } |
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| 192 | |||
| 193 | #endif |
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| 194 | |||
| 195 | // MESSAGE OPTICAL_FLOW UNPACKING |
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| 196 | |||
| 197 | |||
| 198 | /** |
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| 199 | * @brief Get field time_usec from optical_flow message |
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| 200 | * |
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| 201 | * @return Timestamp (UNIX) |
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| 202 | */ |
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| 203 | static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg) |
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| 204 | { |
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| 205 | return _MAV_RETURN_uint64_t(msg, 0); |
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| 206 | } |
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| 207 | |||
| 208 | /** |
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| 209 | * @brief Get field sensor_id from optical_flow message |
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| 210 | * |
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| 211 | * @return Sensor ID |
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| 212 | */ |
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| 213 | static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) |
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| 214 | { |
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| 215 | return _MAV_RETURN_uint8_t(msg, 24); |
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| 216 | } |
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| 217 | |||
| 218 | /** |
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| 219 | * @brief Get field flow_x from optical_flow message |
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| 220 | * |
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| 221 | * @return Flow in pixels in x-sensor direction |
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| 222 | */ |
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| 223 | static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) |
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| 224 | { |
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| 225 | return _MAV_RETURN_int16_t(msg, 20); |
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| 226 | } |
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| 227 | |||
| 228 | /** |
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| 229 | * @brief Get field flow_y from optical_flow message |
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| 230 | * |
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| 231 | * @return Flow in pixels in y-sensor direction |
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| 232 | */ |
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| 233 | static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) |
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| 234 | { |
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| 235 | return _MAV_RETURN_int16_t(msg, 22); |
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| 236 | } |
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| 237 | |||
| 238 | /** |
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| 239 | * @brief Get field flow_comp_m_x from optical_flow message |
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| 240 | * |
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| 241 | * @return Flow in meters in x-sensor direction, angular-speed compensated |
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| 242 | */ |
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| 243 | static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg) |
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| 244 | { |
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| 245 | return _MAV_RETURN_float(msg, 8); |
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| 246 | } |
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| 247 | |||
| 248 | /** |
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| 249 | * @brief Get field flow_comp_m_y from optical_flow message |
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| 250 | * |
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| 251 | * @return Flow in meters in y-sensor direction, angular-speed compensated |
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| 252 | */ |
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| 253 | static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg) |
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| 254 | { |
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| 255 | return _MAV_RETURN_float(msg, 12); |
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| 256 | } |
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| 257 | |||
| 258 | /** |
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| 259 | * @brief Get field quality from optical_flow message |
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| 260 | * |
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| 261 | * @return Optical flow quality / confidence. 0: bad, 255: maximum quality |
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| 262 | */ |
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| 263 | static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) |
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| 264 | { |
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| 265 | return _MAV_RETURN_uint8_t(msg, 25); |
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| 266 | } |
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| 267 | |||
| 268 | /** |
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| 269 | * @brief Get field ground_distance from optical_flow message |
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| 270 | * |
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| 271 | * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance |
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| 272 | */ |
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| 273 | static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) |
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| 274 | { |
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| 275 | return _MAV_RETURN_float(msg, 16); |
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| 276 | } |
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| 277 | |||
| 278 | /** |
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| 279 | * @brief Decode a optical_flow message into a struct |
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| 280 | * |
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| 281 | * @param msg The message to decode |
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| 282 | * @param optical_flow C-struct to decode the message contents into |
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| 283 | */ |
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| 284 | static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) |
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| 285 | { |
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| 286 | #if MAVLINK_NEED_BYTE_SWAP |
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| 287 | optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg); |
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| 288 | optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg); |
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| 289 | optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg); |
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| 290 | optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); |
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| 291 | optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); |
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| 292 | optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); |
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| 293 | optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); |
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| 294 | optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); |
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| 295 | #else |
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| 296 | memcpy(optical_flow, _MAV_PAYLOAD(msg), 26); |
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| 297 | #endif |
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| 298 | } |