378 lines
15 KiB
C
Executable File
378 lines
15 KiB
C
Executable File
// MESSAGE OPTICAL_FLOW PACKING
|
|
|
|
#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
|
|
|
|
typedef struct __mavlink_optical_flow_t
|
|
{
|
|
uint64_t time_usec; ///< Timestamp (UNIX)
|
|
float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
|
|
float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
|
|
float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
|
|
int16_t flow_x; ///< Flow in pixels * 10 in x-sensor direction (dezi-pixels)
|
|
int16_t flow_y; ///< Flow in pixels * 10 in y-sensor direction (dezi-pixels)
|
|
uint8_t sensor_id; ///< Sensor ID
|
|
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
|
|
} mavlink_optical_flow_t;
|
|
|
|
#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
|
|
#define MAVLINK_MSG_ID_100_LEN 26
|
|
|
|
#define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
|
|
#define MAVLINK_MSG_ID_100_CRC 175
|
|
|
|
|
|
|
|
#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
|
|
"OPTICAL_FLOW", \
|
|
8, \
|
|
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
|
|
{ "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
|
|
{ "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
|
|
{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
|
|
{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
|
|
{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
|
|
{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
|
|
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
|
|
} \
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Pack a optical_flow message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param time_usec Timestamp (UNIX)
|
|
* @param sensor_id Sensor ID
|
|
* @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
|
|
* @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
|
|
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
|
|
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
|
|
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
|
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, flow_comp_m_x);
|
|
_mav_put_float(buf, 12, flow_comp_m_y);
|
|
_mav_put_float(buf, 16, ground_distance);
|
|
_mav_put_int16_t(buf, 20, flow_x);
|
|
_mav_put_int16_t(buf, 22, flow_y);
|
|
_mav_put_uint8_t(buf, 24, sensor_id);
|
|
_mav_put_uint8_t(buf, 25, quality);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#else
|
|
mavlink_optical_flow_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.flow_comp_m_x = flow_comp_m_x;
|
|
packet.flow_comp_m_y = flow_comp_m_y;
|
|
packet.ground_distance = ground_distance;
|
|
packet.flow_x = flow_x;
|
|
packet.flow_y = flow_y;
|
|
packet.sensor_id = sensor_id;
|
|
packet.quality = quality;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
|
|
#if MAVLINK_CRC_EXTRA
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a optical_flow message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param time_usec Timestamp (UNIX)
|
|
* @param sensor_id Sensor ID
|
|
* @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
|
|
* @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
|
|
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
|
|
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
|
|
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
|
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, flow_comp_m_x);
|
|
_mav_put_float(buf, 12, flow_comp_m_y);
|
|
_mav_put_float(buf, 16, ground_distance);
|
|
_mav_put_int16_t(buf, 20, flow_x);
|
|
_mav_put_int16_t(buf, 22, flow_y);
|
|
_mav_put_uint8_t(buf, 24, sensor_id);
|
|
_mav_put_uint8_t(buf, 25, quality);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#else
|
|
mavlink_optical_flow_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.flow_comp_m_x = flow_comp_m_x;
|
|
packet.flow_comp_m_y = flow_comp_m_y;
|
|
packet.ground_distance = ground_distance;
|
|
packet.flow_x = flow_x;
|
|
packet.flow_y = flow_y;
|
|
packet.sensor_id = sensor_id;
|
|
packet.quality = quality;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
|
|
#if MAVLINK_CRC_EXTRA
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a optical_flow struct
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param optical_flow C-struct to read the message contents from
|
|
*/
|
|
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)
|
|
{
|
|
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);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a optical_flow struct on a channel
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param optical_flow C-struct to read the message contents from
|
|
*/
|
|
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)
|
|
{
|
|
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);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a optical_flow message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param time_usec Timestamp (UNIX)
|
|
* @param sensor_id Sensor ID
|
|
* @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
|
|
* @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
|
|
* @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
|
|
* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
|
|
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
|
* @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, flow_comp_m_x);
|
|
_mav_put_float(buf, 12, flow_comp_m_y);
|
|
_mav_put_float(buf, 16, ground_distance);
|
|
_mav_put_int16_t(buf, 20, flow_x);
|
|
_mav_put_int16_t(buf, 22, flow_y);
|
|
_mav_put_uint8_t(buf, 24, sensor_id);
|
|
_mav_put_uint8_t(buf, 25, quality);
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
#else
|
|
mavlink_optical_flow_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.flow_comp_m_x = flow_comp_m_x;
|
|
packet.flow_comp_m_y = flow_comp_m_y;
|
|
packet.ground_distance = ground_distance;
|
|
packet.flow_x = flow_x;
|
|
packet.flow_y = flow_y;
|
|
packet.sensor_id = sensor_id;
|
|
packet.quality = quality;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
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)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, flow_comp_m_x);
|
|
_mav_put_float(buf, 12, flow_comp_m_y);
|
|
_mav_put_float(buf, 16, ground_distance);
|
|
_mav_put_int16_t(buf, 20, flow_x);
|
|
_mav_put_int16_t(buf, 22, flow_y);
|
|
_mav_put_uint8_t(buf, 24, sensor_id);
|
|
_mav_put_uint8_t(buf, 25, quality);
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
#else
|
|
mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
|
|
packet->time_usec = time_usec;
|
|
packet->flow_comp_m_x = flow_comp_m_x;
|
|
packet->flow_comp_m_y = flow_comp_m_y;
|
|
packet->ground_distance = ground_distance;
|
|
packet->flow_x = flow_x;
|
|
packet->flow_y = flow_y;
|
|
packet->sensor_id = sensor_id;
|
|
packet->quality = quality;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE OPTICAL_FLOW UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from optical_flow message
|
|
*
|
|
* @return Timestamp (UNIX)
|
|
*/
|
|
static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field sensor_id from optical_flow message
|
|
*
|
|
* @return Sensor ID
|
|
*/
|
|
static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flow_x from optical_flow message
|
|
*
|
|
* @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
|
|
*/
|
|
static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flow_y from optical_flow message
|
|
*
|
|
* @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
|
|
*/
|
|
static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flow_comp_m_x from optical_flow message
|
|
*
|
|
* @return Flow in meters in x-sensor direction, angular-speed compensated
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flow_comp_m_y from optical_flow message
|
|
*
|
|
* @return Flow in meters in y-sensor direction, angular-speed compensated
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field quality from optical_flow message
|
|
*
|
|
* @return Optical flow quality / confidence. 0: bad, 255: maximum quality
|
|
*/
|
|
static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 25);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ground_distance from optical_flow message
|
|
*
|
|
* @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a optical_flow message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param optical_flow C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
|
|
optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
|
|
optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
|
|
optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
|
|
optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
|
|
optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
|
|
optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
|
|
optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
|
|
#else
|
|
memcpy(optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
|
|
#endif
|
|
}
|