lib/main/MAVLink/common/mavlink_msg_optical_flow.h

   1 // MESSAGE OPTICAL_FLOW PACKING
   2
   3 #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
   4
   5 typedef struct __mavlink_optical_flow_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (UNIX)
   8  float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
   9  float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
  10  float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
  11  int16_t flow_x; ///< Flow in pixels * 10 in x-sensor direction (dezi-pixels)
  12  int16_t flow_y; ///< Flow in pixels * 10 in y-sensor direction (dezi-pixels)
  13  uint8_t sensor_id; ///< Sensor ID
  14  uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
  15 } mavlink_optical_flow_t;
  16
  17 #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
  18 #define MAVLINK_MSG_ID_100_LEN 26
  19
  20 #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
  21 #define MAVLINK_MSG_ID_100_CRC 175
  22
  23
  24
  25 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  26         "OPTICAL_FLOW", \
  27         8, \
  28         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  29          { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  30          { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  31          { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  32          { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  33          { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  34          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  35          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  36          } \
  37 }
  38
  39
  40 /**
  41  * @brief Pack a optical_flow message
  42  * @param system_id ID of this system
  43  * @param component_id ID of this component (e.g. 200 for IMU)
  44  * @param msg The MAVLink message to compress the data into
  45  *
  46  * @param time_usec Timestamp (UNIX)
  47  * @param sensor_id Sensor ID
  48  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
  49  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
  50  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
  51  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
  52  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
  53  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
  54  * @return length of the message in bytes (excluding serial stream start sign)
  55  */
  56 static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  57                                                        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)
  58 {
  59 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  60         char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  61         _mav_put_uint64_t(buf, 0, time_usec);
  62         _mav_put_float(buf, 8, flow_comp_m_x);
  63         _mav_put_float(buf, 12, flow_comp_m_y);
  64         _mav_put_float(buf, 16, ground_distance);
  65         _mav_put_int16_t(buf, 20, flow_x);
  66         _mav_put_int16_t(buf, 22, flow_y);
  67         _mav_put_uint8_t(buf, 24, sensor_id);
  68         _mav_put_uint8_t(buf, 25, quality);
  69
  70         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  71 #else
  72         mavlink_optical_flow_t packet;
  73         packet.time_usec = time_usec;
  74         packet.flow_comp_m_x = flow_comp_m_x;
  75         packet.flow_comp_m_y = flow_comp_m_y;
  76         packet.ground_distance = ground_distance;
  77         packet.flow_x = flow_x;
  78         packet.flow_y = flow_y;
  79         packet.sensor_id = sensor_id;
  80         packet.quality = quality;
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  83 #endif
  84
  85         msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
  86 #if MAVLINK_CRC_EXTRA
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
  88 #else
  89     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  90 #endif
  91 }
  92
  93 /**
  94  * @brief Pack a optical_flow message on a channel
  95  * @param system_id ID of this system
  96  * @param component_id ID of this component (e.g. 200 for IMU)
  97  * @param chan The MAVLink channel this message will be sent over
  98  * @param msg The MAVLink message to compress the data into
  99  * @param time_usec Timestamp (UNIX)
 100  * @param sensor_id Sensor ID
 101  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 102  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 103  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
 104  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
 105  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
 106  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 107  * @return length of the message in bytes (excluding serial stream start sign)
 108  */
 109 static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 110                                                            mavlink_message_t* msg,
 111                                                            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)
 112 {
 113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 114         char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 115         _mav_put_uint64_t(buf, 0, time_usec);
 116         _mav_put_float(buf, 8, flow_comp_m_x);
 117         _mav_put_float(buf, 12, flow_comp_m_y);
 118         _mav_put_float(buf, 16, ground_distance);
 119         _mav_put_int16_t(buf, 20, flow_x);
 120         _mav_put_int16_t(buf, 22, flow_y);
 121         _mav_put_uint8_t(buf, 24, sensor_id);
 122         _mav_put_uint8_t(buf, 25, quality);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 125 #else
 126         mavlink_optical_flow_t packet;
 127         packet.time_usec = time_usec;
 128         packet.flow_comp_m_x = flow_comp_m_x;
 129         packet.flow_comp_m_y = flow_comp_m_y;
 130         packet.ground_distance = ground_distance;
 131         packet.flow_x = flow_x;
 132         packet.flow_y = flow_y;
 133         packet.sensor_id = sensor_id;
 134         packet.quality = quality;
 135
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 137 #endif
 138
 139         msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 140 #if MAVLINK_CRC_EXTRA
 141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 142 #else
 143     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 144 #endif
 145 }
 146
 147 /**
 148  * @brief Encode a optical_flow struct
 149  *
 150  * @param system_id ID of this system
 151  * @param component_id ID of this component (e.g. 200 for IMU)
 152  * @param msg The MAVLink message to compress the data into
 153  * @param optical_flow C-struct to read the message contents from
 154  */
 155 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)
 156 {
 157         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);
 158 }
 159
 160 /**
 161  * @brief Encode a optical_flow struct on a channel
 162  *
 163  * @param system_id ID of this system
 164  * @param component_id ID of this component (e.g. 200 for IMU)
 165  * @param chan The MAVLink channel this message will be sent over
 166  * @param msg The MAVLink message to compress the data into
 167  * @param optical_flow C-struct to read the message contents from
 168  */
 169 static inline uint16_t mavlink_msg_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
 170 {
 171         return mavlink_msg_optical_flow_pack_chan(system_id, component_id, chan, 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);
 172 }
 173
 174 /**
 175  * @brief Send a optical_flow message
 176  * @param chan MAVLink channel to send the message
 177  *
 178  * @param time_usec Timestamp (UNIX)
 179  * @param sensor_id Sensor ID
 180  * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 181  * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 182  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
 183  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
 184  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
 185  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 186  */
 187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 188
 189 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)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192         char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 193         _mav_put_uint64_t(buf, 0, time_usec);
 194         _mav_put_float(buf, 8, flow_comp_m_x);
 195         _mav_put_float(buf, 12, flow_comp_m_y);
 196         _mav_put_float(buf, 16, ground_distance);
 197         _mav_put_int16_t(buf, 20, flow_x);
 198         _mav_put_int16_t(buf, 22, flow_y);
 199         _mav_put_uint8_t(buf, 24, sensor_id);
 200         _mav_put_uint8_t(buf, 25, quality);
 201
 202 #if MAVLINK_CRC_EXTRA
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 204 #else
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 206 #endif
 207 #else
 208         mavlink_optical_flow_t packet;
 209         packet.time_usec = time_usec;
 210         packet.flow_comp_m_x = flow_comp_m_x;
 211         packet.flow_comp_m_y = flow_comp_m_y;
 212         packet.ground_distance = ground_distance;
 213         packet.flow_x = flow_x;
 214         packet.flow_y = flow_y;
 215         packet.sensor_id = sensor_id;
 216         packet.quality = quality;
 217
 218 #if MAVLINK_CRC_EXTRA
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 220 #else
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 222 #endif
 223 #endif
 224 }
 225
 226 #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 227 /*
 228   This varient of _send() can be used to save stack space by re-using
 229   memory from the receive buffer.  The caller provides a
 230   mavlink_message_t which is the size of a full mavlink message. This
 231   is usually the receive buffer for the channel, and allows a reply to an
 232   incoming message with minimum stack space usage.
 233  */
 234 static inline void mavlink_msg_optical_flow_send_buf(mavlink_message_t *msgbuf, 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)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237         char *buf = (char *)msgbuf;
 238         _mav_put_uint64_t(buf, 0, time_usec);
 239         _mav_put_float(buf, 8, flow_comp_m_x);
 240         _mav_put_float(buf, 12, flow_comp_m_y);
 241         _mav_put_float(buf, 16, ground_distance);
 242         _mav_put_int16_t(buf, 20, flow_x);
 243         _mav_put_int16_t(buf, 22, flow_y);
 244         _mav_put_uint8_t(buf, 24, sensor_id);
 245         _mav_put_uint8_t(buf, 25, quality);
 246
 247 #if MAVLINK_CRC_EXTRA
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 249 #else
 250     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 251 #endif
 252 #else
 253         mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
 254         packet->time_usec = time_usec;
 255         packet->flow_comp_m_x = flow_comp_m_x;
 256         packet->flow_comp_m_y = flow_comp_m_y;
 257         packet->ground_distance = ground_distance;
 258         packet->flow_x = flow_x;
 259         packet->flow_y = flow_y;
 260         packet->sensor_id = sensor_id;
 261         packet->quality = quality;
 262
 263 #if MAVLINK_CRC_EXTRA
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 265 #else
 266     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 267 #endif
 268 #endif
 269 }
 270 #endif
 271
 272 #endif
 273
 274 // MESSAGE OPTICAL_FLOW UNPACKING
 275
 276
 277 /**
 278  * @brief Get field time_usec from optical_flow message
 279  *
 280  * @return Timestamp (UNIX)
 281  */
 282 static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
 283 {
 284         return _MAV_RETURN_uint64_t(msg,  0);
 285 }
 286
 287 /**
 288  * @brief Get field sensor_id from optical_flow message
 289  *
 290  * @return Sensor ID
 291  */
 292 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
 293 {
 294         return _MAV_RETURN_uint8_t(msg,  24);
 295 }
 296
 297 /**
 298  * @brief Get field flow_x from optical_flow message
 299  *
 300  * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
 301  */
 302 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
 303 {
 304         return _MAV_RETURN_int16_t(msg,  20);
 305 }
 306
 307 /**
 308  * @brief Get field flow_y from optical_flow message
 309  *
 310  * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
 311  */
 312 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
 313 {
 314         return _MAV_RETURN_int16_t(msg,  22);
 315 }
 316
 317 /**
 318  * @brief Get field flow_comp_m_x from optical_flow message
 319  *
 320  * @return Flow in meters in x-sensor direction, angular-speed compensated
 321  */
 322 static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
 323 {
 324         return _MAV_RETURN_float(msg,  8);
 325 }
 326
 327 /**
 328  * @brief Get field flow_comp_m_y from optical_flow message
 329  *
 330  * @return Flow in meters in y-sensor direction, angular-speed compensated
 331  */
 332 static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
 333 {
 334         return _MAV_RETURN_float(msg,  12);
 335 }
 336
 337 /**
 338  * @brief Get field quality from optical_flow message
 339  *
 340  * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
 341  */
 342 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
 343 {
 344         return _MAV_RETURN_uint8_t(msg,  25);
 345 }
 346
 347 /**
 348  * @brief Get field ground_distance from optical_flow message
 349  *
 350  * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 351  */
 352 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
 353 {
 354         return _MAV_RETURN_float(msg,  16);
 355 }
 356
 357 /**
 358  * @brief Decode a optical_flow message into a struct
 359  *
 360  * @param msg The message to decode
 361  * @param optical_flow C-struct to decode the message contents into
 362  */
 363 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
 364 {
 365 #if MAVLINK_NEED_BYTE_SWAP
 366         optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
 367         optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
 368         optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
 369         optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
 370         optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
 371         optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
 372         optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
 373         optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
 374 #else
 375         memcpy(optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 376 #endif
 377 }