lib/main/MAVLink/common/mavlink_msg_hil_optical_flow.h

   1 // MESSAGE HIL_OPTICAL_FLOW PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
   4
   5 typedef struct __mavlink_hil_optical_flow_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
   8  uint32_t integration_time_us; ///< Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
   9  float integrated_x; ///< Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
  10  float integrated_y; ///< Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
  11  float integrated_xgyro; ///< RH rotation around X axis (rad)
  12  float integrated_ygyro; ///< RH rotation around Y axis (rad)
  13  float integrated_zgyro; ///< RH rotation around Z axis (rad)
  14  uint32_t time_delta_distance_us; ///< Time in microseconds since the distance was sampled.
  15  float distance; ///< Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
  16  int16_t temperature; ///< Temperature * 100 in centi-degrees Celsius
  17  uint8_t sensor_id; ///< Sensor ID
  18  uint8_t quality; ///< Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
  19 } mavlink_hil_optical_flow_t;
  20
  21 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 44
  22 #define MAVLINK_MSG_ID_114_LEN 44
  23
  24 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 237
  25 #define MAVLINK_MSG_ID_114_CRC 237
  26
  27
  28
  29 #define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
  30         "HIL_OPTICAL_FLOW", \
  31         12, \
  32         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
  33          { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
  34          { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
  35          { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
  36          { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
  37          { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
  38          { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
  39          { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
  40          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
  41          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
  42          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
  43          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
  44          } \
  45 }
  46
  47
  48 /**
  49  * @brief Pack a hil_optical_flow message
  50  * @param system_id ID of this system
  51  * @param component_id ID of this component (e.g. 200 for IMU)
  52  * @param msg The MAVLink message to compress the data into
  53  *
  54  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  55  * @param sensor_id Sensor ID
  56  * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
  57  * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
  58  * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
  59  * @param integrated_xgyro RH rotation around X axis (rad)
  60  * @param integrated_ygyro RH rotation around Y axis (rad)
  61  * @param integrated_zgyro RH rotation around Z axis (rad)
  62  * @param temperature Temperature * 100 in centi-degrees Celsius
  63  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
  64  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
  65  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
  66  * @return length of the message in bytes (excluding serial stream start sign)
  67  */
  68 static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  69                                                        uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
  70 {
  71 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  72         char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
  73         _mav_put_uint64_t(buf, 0, time_usec);
  74         _mav_put_uint32_t(buf, 8, integration_time_us);
  75         _mav_put_float(buf, 12, integrated_x);
  76         _mav_put_float(buf, 16, integrated_y);
  77         _mav_put_float(buf, 20, integrated_xgyro);
  78         _mav_put_float(buf, 24, integrated_ygyro);
  79         _mav_put_float(buf, 28, integrated_zgyro);
  80         _mav_put_uint32_t(buf, 32, time_delta_distance_us);
  81         _mav_put_float(buf, 36, distance);
  82         _mav_put_int16_t(buf, 40, temperature);
  83         _mav_put_uint8_t(buf, 42, sensor_id);
  84         _mav_put_uint8_t(buf, 43, quality);
  85
  86         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
  87 #else
  88         mavlink_hil_optical_flow_t packet;
  89         packet.time_usec = time_usec;
  90         packet.integration_time_us = integration_time_us;
  91         packet.integrated_x = integrated_x;
  92         packet.integrated_y = integrated_y;
  93         packet.integrated_xgyro = integrated_xgyro;
  94         packet.integrated_ygyro = integrated_ygyro;
  95         packet.integrated_zgyro = integrated_zgyro;
  96         packet.time_delta_distance_us = time_delta_distance_us;
  97         packet.distance = distance;
  98         packet.temperature = temperature;
  99         packet.sensor_id = sensor_id;
 100         packet.quality = quality;
 101
 102         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 103 #endif
 104
 105         msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
 106 #if MAVLINK_CRC_EXTRA
 107     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 108 #else
 109     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 110 #endif
 111 }
 112
 113 /**
 114  * @brief Pack a hil_optical_flow message on a channel
 115  * @param system_id ID of this system
 116  * @param component_id ID of this component (e.g. 200 for IMU)
 117  * @param chan The MAVLink channel this message will be sent over
 118  * @param msg The MAVLink message to compress the data into
 119  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 120  * @param sensor_id Sensor ID
 121  * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
 122  * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
 123  * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
 124  * @param integrated_xgyro RH rotation around X axis (rad)
 125  * @param integrated_ygyro RH rotation around Y axis (rad)
 126  * @param integrated_zgyro RH rotation around Z axis (rad)
 127  * @param temperature Temperature * 100 in centi-degrees Celsius
 128  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 129  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
 130  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 131  * @return length of the message in bytes (excluding serial stream start sign)
 132  */
 133 static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 134                                                            mavlink_message_t* msg,
 135                                                            uint64_t time_usec,uint8_t sensor_id,uint32_t integration_time_us,float integrated_x,float integrated_y,float integrated_xgyro,float integrated_ygyro,float integrated_zgyro,int16_t temperature,uint8_t quality,uint32_t time_delta_distance_us,float distance)
 136 {
 137 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 138         char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
 139         _mav_put_uint64_t(buf, 0, time_usec);
 140         _mav_put_uint32_t(buf, 8, integration_time_us);
 141         _mav_put_float(buf, 12, integrated_x);
 142         _mav_put_float(buf, 16, integrated_y);
 143         _mav_put_float(buf, 20, integrated_xgyro);
 144         _mav_put_float(buf, 24, integrated_ygyro);
 145         _mav_put_float(buf, 28, integrated_zgyro);
 146         _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 147         _mav_put_float(buf, 36, distance);
 148         _mav_put_int16_t(buf, 40, temperature);
 149         _mav_put_uint8_t(buf, 42, sensor_id);
 150         _mav_put_uint8_t(buf, 43, quality);
 151
 152         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 153 #else
 154         mavlink_hil_optical_flow_t packet;
 155         packet.time_usec = time_usec;
 156         packet.integration_time_us = integration_time_us;
 157         packet.integrated_x = integrated_x;
 158         packet.integrated_y = integrated_y;
 159         packet.integrated_xgyro = integrated_xgyro;
 160         packet.integrated_ygyro = integrated_ygyro;
 161         packet.integrated_zgyro = integrated_zgyro;
 162         packet.time_delta_distance_us = time_delta_distance_us;
 163         packet.distance = distance;
 164         packet.temperature = temperature;
 165         packet.sensor_id = sensor_id;
 166         packet.quality = quality;
 167
 168         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 169 #endif
 170
 171         msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
 172 #if MAVLINK_CRC_EXTRA
 173     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 174 #else
 175     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 176 #endif
 177 }
 178
 179 /**
 180  * @brief Encode a hil_optical_flow struct
 181  *
 182  * @param system_id ID of this system
 183  * @param component_id ID of this component (e.g. 200 for IMU)
 184  * @param msg The MAVLink message to compress the data into
 185  * @param hil_optical_flow C-struct to read the message contents from
 186  */
 187 static inline uint16_t mavlink_msg_hil_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
 188 {
 189         return mavlink_msg_hil_optical_flow_pack(system_id, component_id, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->integration_time_us, hil_optical_flow->integrated_x, hil_optical_flow->integrated_y, hil_optical_flow->integrated_xgyro, hil_optical_flow->integrated_ygyro, hil_optical_flow->integrated_zgyro, hil_optical_flow->temperature, hil_optical_flow->quality, hil_optical_flow->time_delta_distance_us, hil_optical_flow->distance);
 190 }
 191
 192 /**
 193  * @brief Encode a hil_optical_flow struct on a channel
 194  *
 195  * @param system_id ID of this system
 196  * @param component_id ID of this component (e.g. 200 for IMU)
 197  * @param chan The MAVLink channel this message will be sent over
 198  * @param msg The MAVLink message to compress the data into
 199  * @param hil_optical_flow C-struct to read the message contents from
 200  */
 201 static inline uint16_t mavlink_msg_hil_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
 202 {
 203         return mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, chan, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->integration_time_us, hil_optical_flow->integrated_x, hil_optical_flow->integrated_y, hil_optical_flow->integrated_xgyro, hil_optical_flow->integrated_ygyro, hil_optical_flow->integrated_zgyro, hil_optical_flow->temperature, hil_optical_flow->quality, hil_optical_flow->time_delta_distance_us, hil_optical_flow->distance);
 204 }
 205
 206 /**
 207  * @brief Send a hil_optical_flow message
 208  * @param chan MAVLink channel to send the message
 209  *
 210  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 211  * @param sensor_id Sensor ID
 212  * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
 213  * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
 214  * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
 215  * @param integrated_xgyro RH rotation around X axis (rad)
 216  * @param integrated_ygyro RH rotation around Y axis (rad)
 217  * @param integrated_zgyro RH rotation around Z axis (rad)
 218  * @param temperature Temperature * 100 in centi-degrees Celsius
 219  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 220  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
 221  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 222  */
 223 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 224
 225 static inline void mavlink_msg_hil_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
 226 {
 227 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 228         char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
 229         _mav_put_uint64_t(buf, 0, time_usec);
 230         _mav_put_uint32_t(buf, 8, integration_time_us);
 231         _mav_put_float(buf, 12, integrated_x);
 232         _mav_put_float(buf, 16, integrated_y);
 233         _mav_put_float(buf, 20, integrated_xgyro);
 234         _mav_put_float(buf, 24, integrated_ygyro);
 235         _mav_put_float(buf, 28, integrated_zgyro);
 236         _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 237         _mav_put_float(buf, 36, distance);
 238         _mav_put_int16_t(buf, 40, temperature);
 239         _mav_put_uint8_t(buf, 42, sensor_id);
 240         _mav_put_uint8_t(buf, 43, quality);
 241
 242 #if MAVLINK_CRC_EXTRA
 243     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 244 #else
 245     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 246 #endif
 247 #else
 248         mavlink_hil_optical_flow_t packet;
 249         packet.time_usec = time_usec;
 250         packet.integration_time_us = integration_time_us;
 251         packet.integrated_x = integrated_x;
 252         packet.integrated_y = integrated_y;
 253         packet.integrated_xgyro = integrated_xgyro;
 254         packet.integrated_ygyro = integrated_ygyro;
 255         packet.integrated_zgyro = integrated_zgyro;
 256         packet.time_delta_distance_us = time_delta_distance_us;
 257         packet.distance = distance;
 258         packet.temperature = temperature;
 259         packet.sensor_id = sensor_id;
 260         packet.quality = quality;
 261
 262 #if MAVLINK_CRC_EXTRA
 263     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 264 #else
 265     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 266 #endif
 267 #endif
 268 }
 269
 270 #if MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 271 /*
 272   This varient of _send() can be used to save stack space by re-using
 273   memory from the receive buffer.  The caller provides a
 274   mavlink_message_t which is the size of a full mavlink message. This
 275   is usually the receive buffer for the channel, and allows a reply to an
 276   incoming message with minimum stack space usage.
 277  */
 278 static inline void mavlink_msg_hil_optical_flow_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
 279 {
 280 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 281         char *buf = (char *)msgbuf;
 282         _mav_put_uint64_t(buf, 0, time_usec);
 283         _mav_put_uint32_t(buf, 8, integration_time_us);
 284         _mav_put_float(buf, 12, integrated_x);
 285         _mav_put_float(buf, 16, integrated_y);
 286         _mav_put_float(buf, 20, integrated_xgyro);
 287         _mav_put_float(buf, 24, integrated_ygyro);
 288         _mav_put_float(buf, 28, integrated_zgyro);
 289         _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 290         _mav_put_float(buf, 36, distance);
 291         _mav_put_int16_t(buf, 40, temperature);
 292         _mav_put_uint8_t(buf, 42, sensor_id);
 293         _mav_put_uint8_t(buf, 43, quality);
 294
 295 #if MAVLINK_CRC_EXTRA
 296     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 297 #else
 298     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 299 #endif
 300 #else
 301         mavlink_hil_optical_flow_t *packet = (mavlink_hil_optical_flow_t *)msgbuf;
 302         packet->time_usec = time_usec;
 303         packet->integration_time_us = integration_time_us;
 304         packet->integrated_x = integrated_x;
 305         packet->integrated_y = integrated_y;
 306         packet->integrated_xgyro = integrated_xgyro;
 307         packet->integrated_ygyro = integrated_ygyro;
 308         packet->integrated_zgyro = integrated_zgyro;
 309         packet->time_delta_distance_us = time_delta_distance_us;
 310         packet->distance = distance;
 311         packet->temperature = temperature;
 312         packet->sensor_id = sensor_id;
 313         packet->quality = quality;
 314
 315 #if MAVLINK_CRC_EXTRA
 316     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 317 #else
 318     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 319 #endif
 320 #endif
 321 }
 322 #endif
 323
 324 #endif
 325
 326 // MESSAGE HIL_OPTICAL_FLOW UNPACKING
 327
 328
 329 /**
 330  * @brief Get field time_usec from hil_optical_flow message
 331  *
 332  * @return Timestamp (microseconds, synced to UNIX time or since system boot)
 333  */
 334 static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
 335 {
 336         return _MAV_RETURN_uint64_t(msg,  0);
 337 }
 338
 339 /**
 340  * @brief Get field sensor_id from hil_optical_flow message
 341  *
 342  * @return Sensor ID
 343  */
 344 static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
 345 {
 346         return _MAV_RETURN_uint8_t(msg,  42);
 347 }
 348
 349 /**
 350  * @brief Get field integration_time_us from hil_optical_flow message
 351  *
 352  * @return Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
 353  */
 354 static inline uint32_t mavlink_msg_hil_optical_flow_get_integration_time_us(const mavlink_message_t* msg)
 355 {
 356         return _MAV_RETURN_uint32_t(msg,  8);
 357 }
 358
 359 /**
 360  * @brief Get field integrated_x from hil_optical_flow message
 361  *
 362  * @return Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
 363  */
 364 static inline float mavlink_msg_hil_optical_flow_get_integrated_x(const mavlink_message_t* msg)
 365 {
 366         return _MAV_RETURN_float(msg,  12);
 367 }
 368
 369 /**
 370  * @brief Get field integrated_y from hil_optical_flow message
 371  *
 372  * @return Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
 373  */
 374 static inline float mavlink_msg_hil_optical_flow_get_integrated_y(const mavlink_message_t* msg)
 375 {
 376         return _MAV_RETURN_float(msg,  16);
 377 }
 378
 379 /**
 380  * @brief Get field integrated_xgyro from hil_optical_flow message
 381  *
 382  * @return RH rotation around X axis (rad)
 383  */
 384 static inline float mavlink_msg_hil_optical_flow_get_integrated_xgyro(const mavlink_message_t* msg)
 385 {
 386         return _MAV_RETURN_float(msg,  20);
 387 }
 388
 389 /**
 390  * @brief Get field integrated_ygyro from hil_optical_flow message
 391  *
 392  * @return RH rotation around Y axis (rad)
 393  */
 394 static inline float mavlink_msg_hil_optical_flow_get_integrated_ygyro(const mavlink_message_t* msg)
 395 {
 396         return _MAV_RETURN_float(msg,  24);
 397 }
 398
 399 /**
 400  * @brief Get field integrated_zgyro from hil_optical_flow message
 401  *
 402  * @return RH rotation around Z axis (rad)
 403  */
 404 static inline float mavlink_msg_hil_optical_flow_get_integrated_zgyro(const mavlink_message_t* msg)
 405 {
 406         return _MAV_RETURN_float(msg,  28);
 407 }
 408
 409 /**
 410  * @brief Get field temperature from hil_optical_flow message
 411  *
 412  * @return Temperature * 100 in centi-degrees Celsius
 413  */
 414 static inline int16_t mavlink_msg_hil_optical_flow_get_temperature(const mavlink_message_t* msg)
 415 {
 416         return _MAV_RETURN_int16_t(msg,  40);
 417 }
 418
 419 /**
 420  * @brief Get field quality from hil_optical_flow message
 421  *
 422  * @return Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 423  */
 424 static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
 425 {
 426         return _MAV_RETURN_uint8_t(msg,  43);
 427 }
 428
 429 /**
 430  * @brief Get field time_delta_distance_us from hil_optical_flow message
 431  *
 432  * @return Time in microseconds since the distance was sampled.
 433  */
 434 static inline uint32_t mavlink_msg_hil_optical_flow_get_time_delta_distance_us(const mavlink_message_t* msg)
 435 {
 436         return _MAV_RETURN_uint32_t(msg,  32);
 437 }
 438
 439 /**
 440  * @brief Get field distance from hil_optical_flow message
 441  *
 442  * @return Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 443  */
 444 static inline float mavlink_msg_hil_optical_flow_get_distance(const mavlink_message_t* msg)
 445 {
 446         return _MAV_RETURN_float(msg,  36);
 447 }
 448
 449 /**
 450  * @brief Decode a hil_optical_flow message into a struct
 451  *
 452  * @param msg The message to decode
 453  * @param hil_optical_flow C-struct to decode the message contents into
 454  */
 455 static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
 456 {
 457 #if MAVLINK_NEED_BYTE_SWAP
 458         hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
 459         hil_optical_flow->integration_time_us = mavlink_msg_hil_optical_flow_get_integration_time_us(msg);
 460         hil_optical_flow->integrated_x = mavlink_msg_hil_optical_flow_get_integrated_x(msg);
 461         hil_optical_flow->integrated_y = mavlink_msg_hil_optical_flow_get_integrated_y(msg);
 462         hil_optical_flow->integrated_xgyro = mavlink_msg_hil_optical_flow_get_integrated_xgyro(msg);
 463         hil_optical_flow->integrated_ygyro = mavlink_msg_hil_optical_flow_get_integrated_ygyro(msg);
 464         hil_optical_flow->integrated_zgyro = mavlink_msg_hil_optical_flow_get_integrated_zgyro(msg);
 465         hil_optical_flow->time_delta_distance_us = mavlink_msg_hil_optical_flow_get_time_delta_distance_us(msg);
 466         hil_optical_flow->distance = mavlink_msg_hil_optical_flow_get_distance(msg);
 467         hil_optical_flow->temperature = mavlink_msg_hil_optical_flow_get_temperature(msg);
 468         hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
 469         hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
 470 #else
 471         memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 472 #endif
 473 }