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
   7 typedef struct __mavlink_hil_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  uint32_t integration_time_us; /*< [us] Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.*/
  10  float integrated_x; /*< [rad] 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; /*< [rad] 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; /*< [rad] RH rotation around X axis*/
  13  float integrated_ygyro; /*< [rad] RH rotation around Y axis*/
  14  float integrated_zgyro; /*< [rad] RH rotation around Z axis*/
  15  uint32_t time_delta_distance_us; /*< [us] Time since the distance was sampled.*/
  16  float distance; /*< [m] Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.*/
  17  int16_t temperature; /*< [cdegC] Temperature*/
  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          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
  39          { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
  40          { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
  41          { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
  42          { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
  43          { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
  44          { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
  45          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
  46          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
  47          { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
  48          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
  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          { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
  57          { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
  58          { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
  59          { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
  60          { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
  61          { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
  62          { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
  63          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
  64          { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
  65          { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
  66          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
  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 [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.
  78  * @param sensor_id  Sensor ID
  79  * @param integration_time_us [us] Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
  80  * @param integrated_x [rad] 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 [rad] 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 [rad] RH rotation around X axis
  83  * @param integrated_ygyro [rad] RH rotation around Y axis
  84  * @param integrated_zgyro [rad] RH rotation around Z axis
  85  * @param temperature [cdegC] Temperature
  86  * @param quality  Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
  87  * @param time_delta_distance_us [us] Time since the distance was sampled.
  88  * @param distance [m] Distance to the center of the flow field. 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 [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.
 139  * @param sensor_id  Sensor ID
 140  * @param integration_time_us [us] Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
 141  * @param integrated_x [rad] 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 [rad] 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 [rad] RH rotation around X axis
 144  * @param integrated_ygyro [rad] RH rotation around Y axis
 145  * @param integrated_zgyro [rad] RH rotation around Z axis
 146  * @param temperature [cdegC] Temperature
 147  * @param quality  Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 148  * @param time_delta_distance_us [us] Time since the distance was sampled.
 149  * @param distance [m] Distance to the center of the flow field. 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 [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.
 226  * @param sensor_id  Sensor ID
 227  * @param integration_time_us [us] Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
 228  * @param integrated_x [rad] 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 [rad] 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 [rad] RH rotation around X axis
 231  * @param integrated_ygyro [rad] RH rotation around Y axis
 232  * @param integrated_zgyro [rad] RH rotation around Z axis
 233  * @param temperature [cdegC] Temperature
 234  * @param quality  Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
 235  * @param time_delta_distance_us [us] Time since the distance was sampled.
 236  * @param distance [m] Distance to the center of the flow field. 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 [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.
 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 [us] Integration time. 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 [rad] 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 [rad] 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 [rad] RH rotation around X axis
 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 [rad] RH rotation around Y axis
 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 [rad] RH rotation around Z axis
 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 [cdegC] Temperature
 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 [us] Time 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 [m] Distance to the center of the flow field. 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 }