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| // MESSAGE OPTICAL_FLOW PACKING |
| |
| #define MAVLINK_MSG_ID_OPTICAL_FLOW 100 |
| |
| typedef struct __mavlink_optical_flow_t |
| { |
| uint64_t time; ///< Timestamp (UNIX) |
| uint8_t sensor_id; ///< Sensor ID |
| int16_t flow_x; ///< Flow in pixels in x-sensor direction |
| int16_t flow_y; ///< Flow in pixels in y-sensor direction |
| uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality |
| float ground_distance; ///< Ground distance in meters |
| } mavlink_optical_flow_t; |
| |
| #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 |
| #define MAVLINK_MSG_ID_100_LEN 18 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ |
| "OPTICAL_FLOW", \ |
| 6, \ |
| { { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \ |
| { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \ |
| { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \ |
| { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \ |
| { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \ |
| { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a optical_flow message |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * |
| * @param time Timestamp (UNIX) |
| * @param sensor_id Sensor ID |
| * @param flow_x Flow in pixels in x-sensor direction |
| * @param flow_y Flow in pixels in y-sensor direction |
| * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
| * @param ground_distance Ground distance in meters |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[18]; |
| _mav_put_uint64_t(buf, 0, time); |
| _mav_put_uint8_t(buf, 8, sensor_id); |
| _mav_put_int16_t(buf, 9, flow_x); |
| _mav_put_int16_t(buf, 11, flow_y); |
| _mav_put_uint8_t(buf, 13, quality); |
| _mav_put_float(buf, 14, ground_distance); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); |
| #else |
| mavlink_optical_flow_t packet; |
| packet.time = time; |
| packet.sensor_id = sensor_id; |
| packet.flow_x = flow_x; |
| packet.flow_y = flow_y; |
| packet.quality = quality; |
| packet.ground_distance = ground_distance; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
| return mavlink_finalize_message(msg, system_id, component_id, 18); |
| } |
| |
| /** |
| * @brief Pack a optical_flow message on a channel |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param chan The MAVLink channel this message was sent over |
| * @param msg The MAVLink message to compress the data into |
| * @param time Timestamp (UNIX) |
| * @param sensor_id Sensor ID |
| * @param flow_x Flow in pixels in x-sensor direction |
| * @param flow_y Flow in pixels in y-sensor direction |
| * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
| * @param ground_distance Ground distance in meters |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| uint64_t time,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[18]; |
| _mav_put_uint64_t(buf, 0, time); |
| _mav_put_uint8_t(buf, 8, sensor_id); |
| _mav_put_int16_t(buf, 9, flow_x); |
| _mav_put_int16_t(buf, 11, flow_y); |
| _mav_put_uint8_t(buf, 13, quality); |
| _mav_put_float(buf, 14, ground_distance); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18); |
| #else |
| mavlink_optical_flow_t packet; |
| packet.time = time; |
| packet.sensor_id = sensor_id; |
| packet.flow_x = flow_x; |
| packet.flow_y = flow_y; |
| packet.quality = quality; |
| packet.ground_distance = ground_distance; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); |
| } |
| |
| /** |
| * @brief Encode a optical_flow struct into a message |
| * |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * @param optical_flow C-struct to read the message contents from |
| */ |
| 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) |
| { |
| 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); |
| } |
| |
| /** |
| * @brief Send a optical_flow message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param time Timestamp (UNIX) |
| * @param sensor_id Sensor ID |
| * @param flow_x Flow in pixels in x-sensor direction |
| * @param flow_y Flow in pixels in y-sensor direction |
| * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
| * @param ground_distance Ground distance in meters |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| 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) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[18]; |
| _mav_put_uint64_t(buf, 0, time); |
| _mav_put_uint8_t(buf, 8, sensor_id); |
| _mav_put_int16_t(buf, 9, flow_x); |
| _mav_put_int16_t(buf, 11, flow_y); |
| _mav_put_uint8_t(buf, 13, quality); |
| _mav_put_float(buf, 14, ground_distance); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18); |
| #else |
| mavlink_optical_flow_t packet; |
| packet.time = time; |
| packet.sensor_id = sensor_id; |
| packet.flow_x = flow_x; |
| packet.flow_y = flow_y; |
| packet.quality = quality; |
| packet.ground_distance = ground_distance; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE OPTICAL_FLOW UNPACKING |
| |
| |
| /** |
| * @brief Get field time from optical_flow message |
| * |
| * @return Timestamp (UNIX) |
| */ |
| static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint64_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field sensor_id from optical_flow message |
| * |
| * @return Sensor ID |
| */ |
| static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 8); |
| } |
| |
| /** |
| * @brief Get field flow_x from optical_flow message |
| * |
| * @return Flow in pixels in x-sensor direction |
| */ |
| static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 9); |
| } |
| |
| /** |
| * @brief Get field flow_y from optical_flow message |
| * |
| * @return Flow in pixels in y-sensor direction |
| */ |
| static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 11); |
| } |
| |
| /** |
| * @brief Get field quality from optical_flow message |
| * |
| * @return Optical flow quality / confidence. 0: bad, 255: maximum quality |
| */ |
| static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 13); |
| } |
| |
| /** |
| * @brief Get field ground_distance from optical_flow message |
| * |
| * @return Ground distance in meters |
| */ |
| static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 14); |
| } |
| |
| /** |
| * @brief Decode a optical_flow message into a struct |
| * |
| * @param msg The message to decode |
| * @param optical_flow C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| optical_flow->time = mavlink_msg_optical_flow_get_time(msg); |
| optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); |
| optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); |
| optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); |
| optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); |
| optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); |
| #else |
| memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); |
| #endif |
| } |