lib/main/MAVLink/common/mavlink_msg_optical_flow.h

   1 #pragma once
   2 // MESSAGE OPTICAL_FLOW PACKING
   3
   4 #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_optical_flow_t {
   8  uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  float flow_comp_m_x; /*< [m/s] Flow in x-sensor direction, angular-speed compensated*/
  10  float flow_comp_m_y; /*< [m/s] Flow in y-sensor direction, angular-speed compensated*/
  11  float ground_distance; /*< [m] Ground distance. Positive value: distance known. Negative value: Unknown distance*/
  12  int16_t flow_x; /*< [dpix] Flow in x-sensor direction*/
  13  int16_t flow_y; /*< [dpix] Flow in y-sensor direction*/
  14  uint8_t sensor_id; /*<  Sensor ID*/
  15  uint8_t quality; /*<  Optical flow quality / confidence. 0: bad, 255: maximum quality*/
  16  float flow_rate_x; /*< [rad/s] Flow rate about X axis*/
  17  float flow_rate_y; /*< [rad/s] Flow rate about Y axis*/
  18 }) mavlink_optical_flow_t;
  19
  20 #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 34
  21 #define MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN 26
  22 #define MAVLINK_MSG_ID_100_LEN 34
  23 #define MAVLINK_MSG_ID_100_MIN_LEN 26
  24
  25 #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
  26 #define MAVLINK_MSG_ID_100_CRC 175
  27
  28
  29
  30 #if MAVLINK_COMMAND_24BIT
  31 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  32     100, \
  33     "OPTICAL_FLOW", \
  34     10, \
  35     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  36          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  37          { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  38          { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  39          { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  40          { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  41          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  42          { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  43          { "flow_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_optical_flow_t, flow_rate_x) }, \
  44          { "flow_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_optical_flow_t, flow_rate_y) }, \
  45          } \
  46 }
  47 #else
  48 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  49     "OPTICAL_FLOW", \
  50     10, \
  51     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  52          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  53          { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  54          { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  55          { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  56          { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  57          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  58          { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  59          { "flow_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_optical_flow_t, flow_rate_x) }, \
  60          { "flow_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_optical_flow_t, flow_rate_y) }, \
  61          } \
  62 }
  63 #endif
  64
  65 /**
  66  * @brief Pack a optical_flow message
  67  * @param system_id ID of this system
  68  * @param component_id ID of this component (e.g. 200 for IMU)
  69  * @param msg The MAVLink message to compress the data into
  70  *
  71  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  72  * @param sensor_id  Sensor ID
  73  * @param flow_x [dpix] Flow in x-sensor direction
  74  * @param flow_y [dpix] Flow in y-sensor direction
  75  * @param flow_comp_m_x [m/s] Flow in x-sensor direction, angular-speed compensated
  76  * @param flow_comp_m_y [m/s] Flow in y-sensor direction, angular-speed compensated
  77  * @param quality  Optical flow quality / confidence. 0: bad, 255: maximum quality
  78  * @param ground_distance [m] Ground distance. Positive value: distance known. Negative value: Unknown distance
  79  * @param flow_rate_x [rad/s] Flow rate about X axis
  80  * @param flow_rate_y [rad/s] Flow rate about Y axis
  81  * @return length of the message in bytes (excluding serial stream start sign)
  82  */
  83 static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  84                                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, float flow_rate_x, float flow_rate_y)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  88     _mav_put_uint64_t(buf, 0, time_usec);
  89     _mav_put_float(buf, 8, flow_comp_m_x);
  90     _mav_put_float(buf, 12, flow_comp_m_y);
  91     _mav_put_float(buf, 16, ground_distance);
  92     _mav_put_int16_t(buf, 20, flow_x);
  93     _mav_put_int16_t(buf, 22, flow_y);
  94     _mav_put_uint8_t(buf, 24, sensor_id);
  95     _mav_put_uint8_t(buf, 25, quality);
  96     _mav_put_float(buf, 26, flow_rate_x);
  97     _mav_put_float(buf, 30, flow_rate_y);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 100 #else
 101     mavlink_optical_flow_t packet;
 102     packet.time_usec = time_usec;
 103     packet.flow_comp_m_x = flow_comp_m_x;
 104     packet.flow_comp_m_y = flow_comp_m_y;
 105     packet.ground_distance = ground_distance;
 106     packet.flow_x = flow_x;
 107     packet.flow_y = flow_y;
 108     packet.sensor_id = sensor_id;
 109     packet.quality = quality;
 110     packet.flow_rate_x = flow_rate_x;
 111     packet.flow_rate_y = flow_rate_y;
 112
 113         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 114 #endif
 115
 116     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 117     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 118 }
 119
 120 /**
 121  * @brief Pack a optical_flow message on a channel
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param chan The MAVLink channel this message will be sent over
 125  * @param msg The MAVLink message to compress the data into
 126  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 127  * @param sensor_id  Sensor ID
 128  * @param flow_x [dpix] Flow in x-sensor direction
 129  * @param flow_y [dpix] Flow in y-sensor direction
 130  * @param flow_comp_m_x [m/s] Flow in x-sensor direction, angular-speed compensated
 131  * @param flow_comp_m_y [m/s] Flow in y-sensor direction, angular-speed compensated
 132  * @param quality  Optical flow quality / confidence. 0: bad, 255: maximum quality
 133  * @param ground_distance [m] Ground distance. Positive value: distance known. Negative value: Unknown distance
 134  * @param flow_rate_x [rad/s] Flow rate about X axis
 135  * @param flow_rate_y [rad/s] Flow rate about Y axis
 136  * @return length of the message in bytes (excluding serial stream start sign)
 137  */
 138 static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 139                                mavlink_message_t* msg,
 140                                    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,float flow_rate_x,float flow_rate_y)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 144     _mav_put_uint64_t(buf, 0, time_usec);
 145     _mav_put_float(buf, 8, flow_comp_m_x);
 146     _mav_put_float(buf, 12, flow_comp_m_y);
 147     _mav_put_float(buf, 16, ground_distance);
 148     _mav_put_int16_t(buf, 20, flow_x);
 149     _mav_put_int16_t(buf, 22, flow_y);
 150     _mav_put_uint8_t(buf, 24, sensor_id);
 151     _mav_put_uint8_t(buf, 25, quality);
 152     _mav_put_float(buf, 26, flow_rate_x);
 153     _mav_put_float(buf, 30, flow_rate_y);
 154
 155         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 156 #else
 157     mavlink_optical_flow_t packet;
 158     packet.time_usec = time_usec;
 159     packet.flow_comp_m_x = flow_comp_m_x;
 160     packet.flow_comp_m_y = flow_comp_m_y;
 161     packet.ground_distance = ground_distance;
 162     packet.flow_x = flow_x;
 163     packet.flow_y = flow_y;
 164     packet.sensor_id = sensor_id;
 165     packet.quality = quality;
 166     packet.flow_rate_x = flow_rate_x;
 167     packet.flow_rate_y = flow_rate_y;
 168
 169         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 170 #endif
 171
 172     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 173     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 174 }
 175
 176 /**
 177  * @brief Encode a optical_flow struct
 178  *
 179  * @param system_id ID of this system
 180  * @param component_id ID of this component (e.g. 200 for IMU)
 181  * @param msg The MAVLink message to compress the data into
 182  * @param optical_flow C-struct to read the message contents from
 183  */
 184 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)
 185 {
 186     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, optical_flow->flow_rate_x, optical_flow->flow_rate_y);
 187 }
 188
 189 /**
 190  * @brief Encode a optical_flow struct on a channel
 191  *
 192  * @param system_id ID of this system
 193  * @param component_id ID of this component (e.g. 200 for IMU)
 194  * @param chan The MAVLink channel this message will be sent over
 195  * @param msg The MAVLink message to compress the data into
 196  * @param optical_flow C-struct to read the message contents from
 197  */
 198 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)
 199 {
 200     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, optical_flow->flow_rate_x, optical_flow->flow_rate_y);
 201 }
 202
 203 /**
 204  * @brief Send a optical_flow message
 205  * @param chan MAVLink channel to send the message
 206  *
 207  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 208  * @param sensor_id  Sensor ID
 209  * @param flow_x [dpix] Flow in x-sensor direction
 210  * @param flow_y [dpix] Flow in y-sensor direction
 211  * @param flow_comp_m_x [m/s] Flow in x-sensor direction, angular-speed compensated
 212  * @param flow_comp_m_y [m/s] Flow in y-sensor direction, angular-speed compensated
 213  * @param quality  Optical flow quality / confidence. 0: bad, 255: maximum quality
 214  * @param ground_distance [m] Ground distance. Positive value: distance known. Negative value: Unknown distance
 215  * @param flow_rate_x [rad/s] Flow rate about X axis
 216  * @param flow_rate_y [rad/s] Flow rate about Y axis
 217  */
 218 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 219
 220 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, float flow_rate_x, float flow_rate_y)
 221 {
 222 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 223     char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
 224     _mav_put_uint64_t(buf, 0, time_usec);
 225     _mav_put_float(buf, 8, flow_comp_m_x);
 226     _mav_put_float(buf, 12, flow_comp_m_y);
 227     _mav_put_float(buf, 16, ground_distance);
 228     _mav_put_int16_t(buf, 20, flow_x);
 229     _mav_put_int16_t(buf, 22, flow_y);
 230     _mav_put_uint8_t(buf, 24, sensor_id);
 231     _mav_put_uint8_t(buf, 25, quality);
 232     _mav_put_float(buf, 26, flow_rate_x);
 233     _mav_put_float(buf, 30, flow_rate_y);
 234
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 236 #else
 237     mavlink_optical_flow_t packet;
 238     packet.time_usec = time_usec;
 239     packet.flow_comp_m_x = flow_comp_m_x;
 240     packet.flow_comp_m_y = flow_comp_m_y;
 241     packet.ground_distance = ground_distance;
 242     packet.flow_x = flow_x;
 243     packet.flow_y = flow_y;
 244     packet.sensor_id = sensor_id;
 245     packet.quality = quality;
 246     packet.flow_rate_x = flow_rate_x;
 247     packet.flow_rate_y = flow_rate_y;
 248
 249     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 250 #endif
 251 }
 252
 253 /**
 254  * @brief Send a optical_flow message
 255  * @param chan MAVLink channel to send the message
 256  * @param struct The MAVLink struct to serialize
 257  */
 258 static inline void mavlink_msg_optical_flow_send_struct(mavlink_channel_t chan, const mavlink_optical_flow_t* optical_flow)
 259 {
 260 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 261     mavlink_msg_optical_flow_send(chan, 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, optical_flow->flow_rate_x, optical_flow->flow_rate_y);
 262 #else
 263     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)optical_flow, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 264 #endif
 265 }
 266
 267 #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 268 /*
 269   This varient of _send() can be used to save stack space by re-using
 270   memory from the receive buffer.  The caller provides a
 271   mavlink_message_t which is the size of a full mavlink message. This
 272   is usually the receive buffer for the channel, and allows a reply to an
 273   incoming message with minimum stack space usage.
 274  */
 275 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, float flow_rate_x, float flow_rate_y)
 276 {
 277 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 278     char *buf = (char *)msgbuf;
 279     _mav_put_uint64_t(buf, 0, time_usec);
 280     _mav_put_float(buf, 8, flow_comp_m_x);
 281     _mav_put_float(buf, 12, flow_comp_m_y);
 282     _mav_put_float(buf, 16, ground_distance);
 283     _mav_put_int16_t(buf, 20, flow_x);
 284     _mav_put_int16_t(buf, 22, flow_y);
 285     _mav_put_uint8_t(buf, 24, sensor_id);
 286     _mav_put_uint8_t(buf, 25, quality);
 287     _mav_put_float(buf, 26, flow_rate_x);
 288     _mav_put_float(buf, 30, flow_rate_y);
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 291 #else
 292     mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
 293     packet->time_usec = time_usec;
 294     packet->flow_comp_m_x = flow_comp_m_x;
 295     packet->flow_comp_m_y = flow_comp_m_y;
 296     packet->ground_distance = ground_distance;
 297     packet->flow_x = flow_x;
 298     packet->flow_y = flow_y;
 299     packet->sensor_id = sensor_id;
 300     packet->quality = quality;
 301     packet->flow_rate_x = flow_rate_x;
 302     packet->flow_rate_y = flow_rate_y;
 303
 304     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
 305 #endif
 306 }
 307 #endif
 308
 309 #endif
 310
 311 // MESSAGE OPTICAL_FLOW UNPACKING
 312
 313
 314 /**
 315  * @brief Get field time_usec from optical_flow message
 316  *
 317  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 318  */
 319 static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
 320 {
 321     return _MAV_RETURN_uint64_t(msg,  0);
 322 }
 323
 324 /**
 325  * @brief Get field sensor_id from optical_flow message
 326  *
 327  * @return  Sensor ID
 328  */
 329 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
 330 {
 331     return _MAV_RETURN_uint8_t(msg,  24);
 332 }
 333
 334 /**
 335  * @brief Get field flow_x from optical_flow message
 336  *
 337  * @return [dpix] Flow in x-sensor direction
 338  */
 339 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
 340 {
 341     return _MAV_RETURN_int16_t(msg,  20);
 342 }
 343
 344 /**
 345  * @brief Get field flow_y from optical_flow message
 346  *
 347  * @return [dpix] Flow in y-sensor direction
 348  */
 349 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
 350 {
 351     return _MAV_RETURN_int16_t(msg,  22);
 352 }
 353
 354 /**
 355  * @brief Get field flow_comp_m_x from optical_flow message
 356  *
 357  * @return [m/s] Flow in x-sensor direction, angular-speed compensated
 358  */
 359 static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
 360 {
 361     return _MAV_RETURN_float(msg,  8);
 362 }
 363
 364 /**
 365  * @brief Get field flow_comp_m_y from optical_flow message
 366  *
 367  * @return [m/s] Flow in y-sensor direction, angular-speed compensated
 368  */
 369 static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
 370 {
 371     return _MAV_RETURN_float(msg,  12);
 372 }
 373
 374 /**
 375  * @brief Get field quality from optical_flow message
 376  *
 377  * @return  Optical flow quality / confidence. 0: bad, 255: maximum quality
 378  */
 379 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
 380 {
 381     return _MAV_RETURN_uint8_t(msg,  25);
 382 }
 383
 384 /**
 385  * @brief Get field ground_distance from optical_flow message
 386  *
 387  * @return [m] Ground distance. Positive value: distance known. Negative value: Unknown distance
 388  */
 389 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
 390 {
 391     return _MAV_RETURN_float(msg,  16);
 392 }
 393
 394 /**
 395  * @brief Get field flow_rate_x from optical_flow message
 396  *
 397  * @return [rad/s] Flow rate about X axis
 398  */
 399 static inline float mavlink_msg_optical_flow_get_flow_rate_x(const mavlink_message_t* msg)
 400 {
 401     return _MAV_RETURN_float(msg,  26);
 402 }
 403
 404 /**
 405  * @brief Get field flow_rate_y from optical_flow message
 406  *
 407  * @return [rad/s] Flow rate about Y axis
 408  */
 409 static inline float mavlink_msg_optical_flow_get_flow_rate_y(const mavlink_message_t* msg)
 410 {
 411     return _MAV_RETURN_float(msg,  30);
 412 }
 413
 414 /**
 415  * @brief Decode a optical_flow message into a struct
 416  *
 417  * @param msg The message to decode
 418  * @param optical_flow C-struct to decode the message contents into
 419  */
 420 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
 421 {
 422 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 423     optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
 424     optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
 425     optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
 426     optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
 427     optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
 428     optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
 429     optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
 430     optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
 431     optical_flow->flow_rate_x = mavlink_msg_optical_flow_get_flow_rate_x(msg);
 432     optical_flow->flow_rate_y = mavlink_msg_optical_flow_get_flow_rate_y(msg);
 433 #else
 434         uint8_t len = msg->len < MAVLINK_MSG_ID_OPTICAL_FLOW_LEN? msg->len : MAVLINK_MSG_ID_OPTICAL_FLOW_LEN;
 435         memset(optical_flow, 0, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
 436     memcpy(optical_flow, _MAV_PAYLOAD(msg), len);
 437 #endif
 438 }