lib/main/MAVLink/common/mavlink_msg_hil_optical_flow.h

   1 #pragma once
   2 // MESSAGE HIL_OPTICAL_FLOW PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_hil_optical_flow_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
   9  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.*/
  10  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.)*/
  11  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.)*/
  12  float integrated_xgyro; /*< RH rotation around X axis (rad)*/
  13  float integrated_ygyro; /*< RH rotation around Y axis (rad)*/
  14  float integrated_zgyro; /*< RH rotation around Z axis (rad)*/
  15  uint32_t time_delta_distance_us; /*< Time in microseconds since the distance was sampled.*/
  16  float distance; /*< Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.*/
  17  int16_t temperature; /*< Temperature * 100 in centi-degrees Celsius*/
  18  uint8_t sensor_id; /*< Sensor ID*/
  19  uint8_t quality; /*< Optical flow quality / confidence. 0: no valid flow, 255: maximum quality*/
  20 }) mavlink_hil_optical_flow_t;
  21
  22 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 44
  23 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN 44
  24 #define MAVLINK_MSG_ID_114_LEN 44
  25 #define MAVLINK_MSG_ID_114_MIN_LEN 44
  26
  27 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 237
  28 #define MAVLINK_MSG_ID_114_CRC 237
  29
  30
  31
  32 #if MAVLINK_COMMAND_24BIT
  33 #define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
  34     114, \
  35     "HIL_OPTICAL_FLOW", \
  36     12, \
  37     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
  38          { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
  39          { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
  40          { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
  41          { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
  42          { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
  43          { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
  44          { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
  45          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
  46          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
  47          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
  48          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
  49          } \
  50 }
  51 #else
  52 #define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
  53     "HIL_OPTICAL_FLOW", \
  54     12, \
  55     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
  56          { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
  57          { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
  58          { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
  59          { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
  60          { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
  61          { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
  62          { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
  63          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
  64          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
  65          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
  66          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
  67          } \
  68 }
  69 #endif
  70
  71 /**
  72  * @brief Pack a hil_optical_flow message
  73  * @param system_id ID of this system
  74  * @param component_id ID of this component (e.g. 200 for IMU)
  75  * @param msg The MAVLink message to compress the data into
  76  *
  77  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  78  * @param sensor_id Sensor ID
  79  * @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.
  80  * @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.)
  81  * @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.)
  82  * @param integrated_xgyro RH rotation around X axis (rad)
  83  * @param integrated_ygyro RH rotation around Y axis (rad)
  84  * @param integrated_zgyro RH rotation around Z axis (rad)
  85  * @param temperature Temperature * 100 in centi-degrees Celsius
  86  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
  87  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
  88  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
  89  * @return length of the message in bytes (excluding serial stream start sign)
  90  */
  91 static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  92                                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)
  93 {
  94 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  95     char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
  96     _mav_put_uint64_t(buf, 0, time_usec);
  97     _mav_put_uint32_t(buf, 8, integration_time_us);
  98     _mav_put_float(buf, 12, integrated_x);
  99     _mav_put_float(buf, 16, integrated_y);
 100     _mav_put_float(buf, 20, integrated_xgyro);
 101     _mav_put_float(buf, 24, integrated_ygyro);
 102     _mav_put_float(buf, 28, integrated_zgyro);
 103     _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 104     _mav_put_float(buf, 36, distance);
 105     _mav_put_int16_t(buf, 40, temperature);
 106     _mav_put_uint8_t(buf, 42, sensor_id);
 107     _mav_put_uint8_t(buf, 43, quality);
 108
 109         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 110 #else
 111     mavlink_hil_optical_flow_t packet;
 112     packet.time_usec = time_usec;
 113     packet.integration_time_us = integration_time_us;
 114     packet.integrated_x = integrated_x;
 115     packet.integrated_y = integrated_y;
 116     packet.integrated_xgyro = integrated_xgyro;
 117     packet.integrated_ygyro = integrated_ygyro;
 118     packet.integrated_zgyro = integrated_zgyro;
 119     packet.time_delta_distance_us = time_delta_distance_us;
 120     packet.distance = distance;
 121     packet.temperature = temperature;
 122     packet.sensor_id = sensor_id;
 123     packet.quality = quality;
 124
 125         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 126 #endif
 127
 128     msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
 129     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 130 }
 131
 132 /**
 133  * @brief Pack a hil_optical_flow message on a channel
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 139  * @param sensor_id Sensor ID
 140  * @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.
 141  * @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.)
 142  * @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.)
 143  * @param integrated_xgyro RH rotation around X axis (rad)
 144  * @param integrated_ygyro RH rotation around Y axis (rad)
 145  * @param integrated_zgyro RH rotation around Z axis (rad)
 146  * @param temperature Temperature * 100 in centi-degrees Celsius
 147  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 148  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
 149  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 150  * @return length of the message in bytes (excluding serial stream start sign)
 151  */
 152 static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 153                                mavlink_message_t* msg,
 154                                    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)
 155 {
 156 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 157     char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
 158     _mav_put_uint64_t(buf, 0, time_usec);
 159     _mav_put_uint32_t(buf, 8, integration_time_us);
 160     _mav_put_float(buf, 12, integrated_x);
 161     _mav_put_float(buf, 16, integrated_y);
 162     _mav_put_float(buf, 20, integrated_xgyro);
 163     _mav_put_float(buf, 24, integrated_ygyro);
 164     _mav_put_float(buf, 28, integrated_zgyro);
 165     _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 166     _mav_put_float(buf, 36, distance);
 167     _mav_put_int16_t(buf, 40, temperature);
 168     _mav_put_uint8_t(buf, 42, sensor_id);
 169     _mav_put_uint8_t(buf, 43, quality);
 170
 171         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 172 #else
 173     mavlink_hil_optical_flow_t packet;
 174     packet.time_usec = time_usec;
 175     packet.integration_time_us = integration_time_us;
 176     packet.integrated_x = integrated_x;
 177     packet.integrated_y = integrated_y;
 178     packet.integrated_xgyro = integrated_xgyro;
 179     packet.integrated_ygyro = integrated_ygyro;
 180     packet.integrated_zgyro = integrated_zgyro;
 181     packet.time_delta_distance_us = time_delta_distance_us;
 182     packet.distance = distance;
 183     packet.temperature = temperature;
 184     packet.sensor_id = sensor_id;
 185     packet.quality = quality;
 186
 187         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 188 #endif
 189
 190     msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
 191     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 192 }
 193
 194 /**
 195  * @brief Encode a hil_optical_flow struct
 196  *
 197  * @param system_id ID of this system
 198  * @param component_id ID of this component (e.g. 200 for IMU)
 199  * @param msg The MAVLink message to compress the data into
 200  * @param hil_optical_flow C-struct to read the message contents from
 201  */
 202 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)
 203 {
 204     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);
 205 }
 206
 207 /**
 208  * @brief Encode a hil_optical_flow struct on a channel
 209  *
 210  * @param system_id ID of this system
 211  * @param component_id ID of this component (e.g. 200 for IMU)
 212  * @param chan The MAVLink channel this message will be sent over
 213  * @param msg The MAVLink message to compress the data into
 214  * @param hil_optical_flow C-struct to read the message contents from
 215  */
 216 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)
 217 {
 218     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);
 219 }
 220
 221 /**
 222  * @brief Send a hil_optical_flow message
 223  * @param chan MAVLink channel to send the message
 224  *
 225  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 226  * @param sensor_id Sensor ID
 227  * @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.
 228  * @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.)
 229  * @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.)
 230  * @param integrated_xgyro RH rotation around X axis (rad)
 231  * @param integrated_ygyro RH rotation around Y axis (rad)
 232  * @param integrated_zgyro RH rotation around Z axis (rad)
 233  * @param temperature Temperature * 100 in centi-degrees Celsius
 234  * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 235  * @param time_delta_distance_us Time in microseconds since the distance was sampled.
 236  * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 237  */
 238 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 239
 240 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)
 241 {
 242 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 243     char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
 244     _mav_put_uint64_t(buf, 0, time_usec);
 245     _mav_put_uint32_t(buf, 8, integration_time_us);
 246     _mav_put_float(buf, 12, integrated_x);
 247     _mav_put_float(buf, 16, integrated_y);
 248     _mav_put_float(buf, 20, integrated_xgyro);
 249     _mav_put_float(buf, 24, integrated_ygyro);
 250     _mav_put_float(buf, 28, integrated_zgyro);
 251     _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 252     _mav_put_float(buf, 36, distance);
 253     _mav_put_int16_t(buf, 40, temperature);
 254     _mav_put_uint8_t(buf, 42, sensor_id);
 255     _mav_put_uint8_t(buf, 43, quality);
 256
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 258 #else
 259     mavlink_hil_optical_flow_t packet;
 260     packet.time_usec = time_usec;
 261     packet.integration_time_us = integration_time_us;
 262     packet.integrated_x = integrated_x;
 263     packet.integrated_y = integrated_y;
 264     packet.integrated_xgyro = integrated_xgyro;
 265     packet.integrated_ygyro = integrated_ygyro;
 266     packet.integrated_zgyro = integrated_zgyro;
 267     packet.time_delta_distance_us = time_delta_distance_us;
 268     packet.distance = distance;
 269     packet.temperature = temperature;
 270     packet.sensor_id = sensor_id;
 271     packet.quality = quality;
 272
 273     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 274 #endif
 275 }
 276
 277 /**
 278  * @brief Send a hil_optical_flow message
 279  * @param chan MAVLink channel to send the message
 280  * @param struct The MAVLink struct to serialize
 281  */
 282 static inline void mavlink_msg_hil_optical_flow_send_struct(mavlink_channel_t chan, const mavlink_hil_optical_flow_t* hil_optical_flow)
 283 {
 284 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 285     mavlink_msg_hil_optical_flow_send(chan, 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);
 286 #else
 287     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)hil_optical_flow, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 288 #endif
 289 }
 290
 291 #if MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 292 /*
 293   This varient of _send() can be used to save stack space by re-using
 294   memory from the receive buffer.  The caller provides a
 295   mavlink_message_t which is the size of a full mavlink message. This
 296   is usually the receive buffer for the channel, and allows a reply to an
 297   incoming message with minimum stack space usage.
 298  */
 299 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)
 300 {
 301 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 302     char *buf = (char *)msgbuf;
 303     _mav_put_uint64_t(buf, 0, time_usec);
 304     _mav_put_uint32_t(buf, 8, integration_time_us);
 305     _mav_put_float(buf, 12, integrated_x);
 306     _mav_put_float(buf, 16, integrated_y);
 307     _mav_put_float(buf, 20, integrated_xgyro);
 308     _mav_put_float(buf, 24, integrated_ygyro);
 309     _mav_put_float(buf, 28, integrated_zgyro);
 310     _mav_put_uint32_t(buf, 32, time_delta_distance_us);
 311     _mav_put_float(buf, 36, distance);
 312     _mav_put_int16_t(buf, 40, temperature);
 313     _mav_put_uint8_t(buf, 42, sensor_id);
 314     _mav_put_uint8_t(buf, 43, quality);
 315
 316     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 317 #else
 318     mavlink_hil_optical_flow_t *packet = (mavlink_hil_optical_flow_t *)msgbuf;
 319     packet->time_usec = time_usec;
 320     packet->integration_time_us = integration_time_us;
 321     packet->integrated_x = integrated_x;
 322     packet->integrated_y = integrated_y;
 323     packet->integrated_xgyro = integrated_xgyro;
 324     packet->integrated_ygyro = integrated_ygyro;
 325     packet->integrated_zgyro = integrated_zgyro;
 326     packet->time_delta_distance_us = time_delta_distance_us;
 327     packet->distance = distance;
 328     packet->temperature = temperature;
 329     packet->sensor_id = sensor_id;
 330     packet->quality = quality;
 331
 332     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
 333 #endif
 334 }
 335 #endif
 336
 337 #endif
 338
 339 // MESSAGE HIL_OPTICAL_FLOW UNPACKING
 340
 341
 342 /**
 343  * @brief Get field time_usec from hil_optical_flow message
 344  *
 345  * @return Timestamp (microseconds, synced to UNIX time or since system boot)
 346  */
 347 static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
 348 {
 349     return _MAV_RETURN_uint64_t(msg,  0);
 350 }
 351
 352 /**
 353  * @brief Get field sensor_id from hil_optical_flow message
 354  *
 355  * @return Sensor ID
 356  */
 357 static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
 358 {
 359     return _MAV_RETURN_uint8_t(msg,  42);
 360 }
 361
 362 /**
 363  * @brief Get field integration_time_us from hil_optical_flow message
 364  *
 365  * @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.
 366  */
 367 static inline uint32_t mavlink_msg_hil_optical_flow_get_integration_time_us(const mavlink_message_t* msg)
 368 {
 369     return _MAV_RETURN_uint32_t(msg,  8);
 370 }
 371
 372 /**
 373  * @brief Get field integrated_x from hil_optical_flow message
 374  *
 375  * @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.)
 376  */
 377 static inline float mavlink_msg_hil_optical_flow_get_integrated_x(const mavlink_message_t* msg)
 378 {
 379     return _MAV_RETURN_float(msg,  12);
 380 }
 381
 382 /**
 383  * @brief Get field integrated_y from hil_optical_flow message
 384  *
 385  * @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.)
 386  */
 387 static inline float mavlink_msg_hil_optical_flow_get_integrated_y(const mavlink_message_t* msg)
 388 {
 389     return _MAV_RETURN_float(msg,  16);
 390 }
 391
 392 /**
 393  * @brief Get field integrated_xgyro from hil_optical_flow message
 394  *
 395  * @return RH rotation around X axis (rad)
 396  */
 397 static inline float mavlink_msg_hil_optical_flow_get_integrated_xgyro(const mavlink_message_t* msg)
 398 {
 399     return _MAV_RETURN_float(msg,  20);
 400 }
 401
 402 /**
 403  * @brief Get field integrated_ygyro from hil_optical_flow message
 404  *
 405  * @return RH rotation around Y axis (rad)
 406  */
 407 static inline float mavlink_msg_hil_optical_flow_get_integrated_ygyro(const mavlink_message_t* msg)
 408 {
 409     return _MAV_RETURN_float(msg,  24);
 410 }
 411
 412 /**
 413  * @brief Get field integrated_zgyro from hil_optical_flow message
 414  *
 415  * @return RH rotation around Z axis (rad)
 416  */
 417 static inline float mavlink_msg_hil_optical_flow_get_integrated_zgyro(const mavlink_message_t* msg)
 418 {
 419     return _MAV_RETURN_float(msg,  28);
 420 }
 421
 422 /**
 423  * @brief Get field temperature from hil_optical_flow message
 424  *
 425  * @return Temperature * 100 in centi-degrees Celsius
 426  */
 427 static inline int16_t mavlink_msg_hil_optical_flow_get_temperature(const mavlink_message_t* msg)
 428 {
 429     return _MAV_RETURN_int16_t(msg,  40);
 430 }
 431
 432 /**
 433  * @brief Get field quality from hil_optical_flow message
 434  *
 435  * @return Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 436  */
 437 static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
 438 {
 439     return _MAV_RETURN_uint8_t(msg,  43);
 440 }
 441
 442 /**
 443  * @brief Get field time_delta_distance_us from hil_optical_flow message
 444  *
 445  * @return Time in microseconds since the distance was sampled.
 446  */
 447 static inline uint32_t mavlink_msg_hil_optical_flow_get_time_delta_distance_us(const mavlink_message_t* msg)
 448 {
 449     return _MAV_RETURN_uint32_t(msg,  32);
 450 }
 451
 452 /**
 453  * @brief Get field distance from hil_optical_flow message
 454  *
 455  * @return Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
 456  */
 457 static inline float mavlink_msg_hil_optical_flow_get_distance(const mavlink_message_t* msg)
 458 {
 459     return _MAV_RETURN_float(msg,  36);
 460 }
 461
 462 /**
 463  * @brief Decode a hil_optical_flow message into a struct
 464  *
 465  * @param msg The message to decode
 466  * @param hil_optical_flow C-struct to decode the message contents into
 467  */
 468 static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
 469 {
 470 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 471     hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
 472     hil_optical_flow->integration_time_us = mavlink_msg_hil_optical_flow_get_integration_time_us(msg);
 473     hil_optical_flow->integrated_x = mavlink_msg_hil_optical_flow_get_integrated_x(msg);
 474     hil_optical_flow->integrated_y = mavlink_msg_hil_optical_flow_get_integrated_y(msg);
 475     hil_optical_flow->integrated_xgyro = mavlink_msg_hil_optical_flow_get_integrated_xgyro(msg);
 476     hil_optical_flow->integrated_ygyro = mavlink_msg_hil_optical_flow_get_integrated_ygyro(msg);
 477     hil_optical_flow->integrated_zgyro = mavlink_msg_hil_optical_flow_get_integrated_zgyro(msg);
 478     hil_optical_flow->time_delta_distance_us = mavlink_msg_hil_optical_flow_get_time_delta_distance_us(msg);
 479     hil_optical_flow->distance = mavlink_msg_hil_optical_flow_get_distance(msg);
 480     hil_optical_flow->temperature = mavlink_msg_hil_optical_flow_get_temperature(msg);
 481     hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
 482     hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
 483 #else
 484         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN? msg->len : MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN;
 485         memset(hil_optical_flow, 0, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
 486     memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), len);
 487 #endif
 488 }