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mavlink_msg_optical_flow.h
1#pragma once
2// MESSAGE OPTICAL_FLOW PACKING
3
4#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
5
6MAVPACKED(
7typedef struct __mavlink_optical_flow_t {
8 uint64_t time_usec; /*< Timestamp (UNIX)*/
9 float flow_comp_m_x; /*< Flow in meters in x-sensor direction, angular-speed compensated*/
10 float flow_comp_m_y; /*< Flow in meters in y-sensor direction, angular-speed compensated*/
11 float ground_distance; /*< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance*/
12 int16_t flow_x; /*< Flow in pixels * 10 in x-sensor direction (dezi-pixels)*/
13 int16_t flow_y; /*< Flow in pixels * 10 in y-sensor direction (dezi-pixels)*/
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; /*< Flow rate in radians/second about X axis*/
17 float flow_rate_y; /*< Flow rate in radians/second 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
83static 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
138static 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
184static 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
198static 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
218#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
219
220static 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
258static 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 */
275static 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
319static 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
329static 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
339static 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
349static 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
359static 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
369static 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
379static 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
389static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
390{
391 return _MAV_RETURN_float(msg, 16);
392}
393
399static 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
409static 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
420static 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}
制作者 doxygen 1.11.0