flight/libraries/mavlink/v1.0/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     uint64_t time_usec; ///< Timestamp (UNIX)
   7     float    flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
   8     float    flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
   9     float    ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
  10     int16_t  flow_x; ///< Flow in pixels in x-sensor direction
  11     int16_t  flow_y; ///< Flow in pixels in y-sensor direction
  12     uint8_t  sensor_id; ///< Sensor ID
  13     uint8_t  quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
  14 } mavlink_optical_flow_t;
  15
  16 #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
  17 #define MAVLINK_MSG_ID_100_LEN          26
  18
  19
  20 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW \
  21     { \
  22         "OPTICAL_FLOW", \
  23         8, \
  24         { \
  25             { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
  26             { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
  27             { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
  28             { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
  29             { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
  30             { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
  31             { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
  32             { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
  33         } \
  34     }
  35
  36
  37 /**
  38  * @brief Pack a optical_flow message
  39  * @param system_id ID of this system
  40  * @param component_id ID of this component (e.g. 200 for IMU)
  41  * @param msg The MAVLink message to compress the data into
  42  *
  43  * @param time_usec Timestamp (UNIX)
  44  * @param sensor_id Sensor ID
  45  * @param flow_x Flow in pixels in x-sensor direction
  46  * @param flow_y Flow in pixels in y-sensor direction
  47  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
  48  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
  49  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
  50  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  54                                                      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)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57     char buf[26];
  58     _mav_put_uint64_t(buf, 0, time_usec);
  59     _mav_put_float(buf, 8, flow_comp_m_x);
  60     _mav_put_float(buf, 12, flow_comp_m_y);
  61     _mav_put_float(buf, 16, ground_distance);
  62     _mav_put_int16_t(buf, 20, flow_x);
  63     _mav_put_int16_t(buf, 22, flow_y);
  64     _mav_put_uint8_t(buf, 24, sensor_id);
  65     _mav_put_uint8_t(buf, 25, quality);
  66
  67     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
  68 #else
  69     mavlink_optical_flow_t packet;
  70     packet.time_usec       = time_usec;
  71     packet.flow_comp_m_x   = flow_comp_m_x;
  72     packet.flow_comp_m_y   = flow_comp_m_y;
  73     packet.ground_distance = ground_distance;
  74     packet.flow_x = flow_x;
  75     packet.flow_y = flow_y;
  76     packet.sensor_id       = sensor_id;
  77     packet.quality = quality;
  78
  79     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
  80 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  81
  82     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
  83     return mavlink_finalize_message(msg, system_id, component_id, 26, 175);
  84 }
  85
  86 /**
  87  * @brief Pack a optical_flow message on a channel
  88  * @param system_id ID of this system
  89  * @param component_id ID of this component (e.g. 200 for IMU)
  90  * @param chan The MAVLink channel this message was sent over
  91  * @param msg The MAVLink message to compress the data into
  92  * @param time_usec Timestamp (UNIX)
  93  * @param sensor_id Sensor ID
  94  * @param flow_x Flow in pixels in x-sensor direction
  95  * @param flow_y Flow in pixels in y-sensor direction
  96  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
  97  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
  98  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
  99  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 100  * @return length of the message in bytes (excluding serial stream start sign)
 101  */
 102 static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 103                                                           mavlink_message_t *msg,
 104                                                           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)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[26];
 108     _mav_put_uint64_t(buf, 0, time_usec);
 109     _mav_put_float(buf, 8, flow_comp_m_x);
 110     _mav_put_float(buf, 12, flow_comp_m_y);
 111     _mav_put_float(buf, 16, ground_distance);
 112     _mav_put_int16_t(buf, 20, flow_x);
 113     _mav_put_int16_t(buf, 22, flow_y);
 114     _mav_put_uint8_t(buf, 24, sensor_id);
 115     _mav_put_uint8_t(buf, 25, quality);
 116
 117     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
 118 #else
 119     mavlink_optical_flow_t packet;
 120     packet.time_usec       = time_usec;
 121     packet.flow_comp_m_x   = flow_comp_m_x;
 122     packet.flow_comp_m_y   = flow_comp_m_y;
 123     packet.ground_distance = ground_distance;
 124     packet.flow_x = flow_x;
 125     packet.flow_y = flow_y;
 126     packet.sensor_id       = sensor_id;
 127     packet.quality = quality;
 128
 129     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
 130 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 131
 132     msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 175);
 134 }
 135
 136 /**
 137  * @brief Encode a optical_flow struct into a message
 138  *
 139  * @param system_id ID of this system
 140  * @param component_id ID of this component (e.g. 200 for IMU)
 141  * @param msg The MAVLink message to compress the data into
 142  * @param optical_flow C-struct to read the message contents from
 143  */
 144 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)
 145 {
 146     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);
 147 }
 148
 149 /**
 150  * @brief Send a optical_flow message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param time_usec Timestamp (UNIX)
 154  * @param sensor_id Sensor ID
 155  * @param flow_x Flow in pixels in x-sensor direction
 156  * @param flow_y Flow in pixels in y-sensor direction
 157  * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
 158  * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
 159  * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
 160  * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 161  */
 162 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 163
 164 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)
 165 {
 166 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 167     char buf[26];
 168     _mav_put_uint64_t(buf, 0, time_usec);
 169     _mav_put_float(buf, 8, flow_comp_m_x);
 170     _mav_put_float(buf, 12, flow_comp_m_y);
 171     _mav_put_float(buf, 16, ground_distance);
 172     _mav_put_int16_t(buf, 20, flow_x);
 173     _mav_put_int16_t(buf, 22, flow_y);
 174     _mav_put_uint8_t(buf, 24, sensor_id);
 175     _mav_put_uint8_t(buf, 25, quality);
 176
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 26, 175);
 178 #else
 179     mavlink_optical_flow_t packet;
 180     packet.time_usec       = time_usec;
 181     packet.flow_comp_m_x   = flow_comp_m_x;
 182     packet.flow_comp_m_y   = flow_comp_m_y;
 183     packet.ground_distance = ground_distance;
 184     packet.flow_x = flow_x;
 185     packet.flow_y = flow_y;
 186     packet.sensor_id       = sensor_id;
 187     packet.quality = quality;
 188
 189     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 26, 175);
 190 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 191 }
 192
 193 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 194
 195 // MESSAGE OPTICAL_FLOW UNPACKING
 196
 197
 198 /**
 199  * @brief Get field time_usec from optical_flow message
 200  *
 201  * @return Timestamp (UNIX)
 202  */
 203 static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t *msg)
 204 {
 205     return _MAV_RETURN_uint64_t(msg, 0);
 206 }
 207
 208 /**
 209  * @brief Get field sensor_id from optical_flow message
 210  *
 211  * @return Sensor ID
 212  */
 213 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t *msg)
 214 {
 215     return _MAV_RETURN_uint8_t(msg, 24);
 216 }
 217
 218 /**
 219  * @brief Get field flow_x from optical_flow message
 220  *
 221  * @return Flow in pixels in x-sensor direction
 222  */
 223 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t *msg)
 224 {
 225     return _MAV_RETURN_int16_t(msg, 20);
 226 }
 227
 228 /**
 229  * @brief Get field flow_y from optical_flow message
 230  *
 231  * @return Flow in pixels in y-sensor direction
 232  */
 233 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t *msg)
 234 {
 235     return _MAV_RETURN_int16_t(msg, 22);
 236 }
 237
 238 /**
 239  * @brief Get field flow_comp_m_x from optical_flow message
 240  *
 241  * @return Flow in meters in x-sensor direction, angular-speed compensated
 242  */
 243 static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t *msg)
 244 {
 245     return _MAV_RETURN_float(msg, 8);
 246 }
 247
 248 /**
 249  * @brief Get field flow_comp_m_y from optical_flow message
 250  *
 251  * @return Flow in meters in y-sensor direction, angular-speed compensated
 252  */
 253 static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t *msg)
 254 {
 255     return _MAV_RETURN_float(msg, 12);
 256 }
 257
 258 /**
 259  * @brief Get field quality from optical_flow message
 260  *
 261  * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
 262  */
 263 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t *msg)
 264 {
 265     return _MAV_RETURN_uint8_t(msg, 25);
 266 }
 267
 268 /**
 269  * @brief Get field ground_distance from optical_flow message
 270  *
 271  * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
 272  */
 273 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t *msg)
 274 {
 275     return _MAV_RETURN_float(msg, 16);
 276 }
 277
 278 /**
 279  * @brief Decode a optical_flow message into a struct
 280  *
 281  * @param msg The message to decode
 282  * @param optical_flow C-struct to decode the message contents into
 283  */
 284 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t *msg, mavlink_optical_flow_t *optical_flow)
 285 {
 286 #if MAVLINK_NEED_BYTE_SWAP
 287     optical_flow->time_usec       = mavlink_msg_optical_flow_get_time_usec(msg);
 288     optical_flow->flow_comp_m_x   = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
 289     optical_flow->flow_comp_m_y   = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
 290     optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
 291     optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
 292     optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
 293     optical_flow->sensor_id       = mavlink_msg_optical_flow_get_sensor_id(msg);
 294     optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
 295 #else
 296     memcpy(optical_flow, _MAV_PAYLOAD(msg), 26);
 297 #endif
 298 }