474 lines
23 KiB
C
Executable File
474 lines
23 KiB
C
Executable File
// MESSAGE OPTICAL_FLOW_RAD PACKING
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#define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD 106
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typedef struct __mavlink_optical_flow_rad_t
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{
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uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
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uint32_t integration_time_us; ///< Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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float integrated_x; ///< 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.)
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float integrated_y; ///< 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.)
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float integrated_xgyro; ///< RH rotation around X axis (rad)
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float integrated_ygyro; ///< RH rotation around Y axis (rad)
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float integrated_zgyro; ///< RH rotation around Z axis (rad)
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uint32_t time_delta_distance_us; ///< Time in microseconds since the distance was sampled.
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float distance; ///< Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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int16_t temperature; ///< Temperature * 100 in centi-degrees Celsius
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uint8_t sensor_id; ///< Sensor ID
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uint8_t quality; ///< Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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} mavlink_optical_flow_rad_t;
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#define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN 44
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#define MAVLINK_MSG_ID_106_LEN 44
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#define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC 138
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#define MAVLINK_MSG_ID_106_CRC 138
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#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW_RAD { \
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"OPTICAL_FLOW_RAD", \
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12, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_rad_t, time_usec) }, \
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{ "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_optical_flow_rad_t, integration_time_us) }, \
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{ "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_rad_t, integrated_x) }, \
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{ "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_rad_t, integrated_y) }, \
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{ "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_optical_flow_rad_t, integrated_xgyro) }, \
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{ "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_optical_flow_rad_t, integrated_ygyro) }, \
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{ "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_optical_flow_rad_t, integrated_zgyro) }, \
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{ "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_optical_flow_rad_t, time_delta_distance_us) }, \
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{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_optical_flow_rad_t, distance) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_optical_flow_rad_t, temperature) }, \
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{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_optical_flow_rad_t, sensor_id) }, \
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{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_optical_flow_rad_t, quality) }, \
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} \
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}
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/**
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* @brief Pack a optical_flow_rad message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param sensor_id Sensor ID
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* @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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* @param integrated_x 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.)
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* @param integrated_y 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.)
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* @param integrated_xgyro RH rotation around X axis (rad)
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* @param integrated_ygyro RH rotation around Y axis (rad)
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* @param integrated_zgyro RH rotation around Z axis (rad)
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* @param temperature Temperature * 100 in centi-degrees Celsius
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* @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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* @param time_delta_distance_us Time in microseconds since the distance was sampled.
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* @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_optical_flow_rad_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, integration_time_us);
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_mav_put_float(buf, 12, integrated_x);
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_mav_put_float(buf, 16, integrated_y);
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_mav_put_float(buf, 20, integrated_xgyro);
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_mav_put_float(buf, 24, integrated_ygyro);
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_mav_put_float(buf, 28, integrated_zgyro);
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_mav_put_uint32_t(buf, 32, time_delta_distance_us);
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_mav_put_float(buf, 36, distance);
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_mav_put_int16_t(buf, 40, temperature);
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_mav_put_uint8_t(buf, 42, sensor_id);
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_mav_put_uint8_t(buf, 43, quality);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#else
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mavlink_optical_flow_rad_t packet;
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packet.time_usec = time_usec;
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packet.integration_time_us = integration_time_us;
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packet.integrated_x = integrated_x;
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packet.integrated_y = integrated_y;
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packet.integrated_xgyro = integrated_xgyro;
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packet.integrated_ygyro = integrated_ygyro;
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packet.integrated_zgyro = integrated_zgyro;
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packet.time_delta_distance_us = time_delta_distance_us;
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packet.distance = distance;
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packet.temperature = temperature;
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packet.sensor_id = sensor_id;
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packet.quality = quality;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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}
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/**
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* @brief Pack a optical_flow_rad message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param sensor_id Sensor ID
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* @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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* @param integrated_x 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.)
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* @param integrated_y 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.)
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* @param integrated_xgyro RH rotation around X axis (rad)
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* @param integrated_ygyro RH rotation around Y axis (rad)
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* @param integrated_zgyro RH rotation around Z axis (rad)
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* @param temperature Temperature * 100 in centi-degrees Celsius
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* @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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* @param time_delta_distance_us Time in microseconds since the distance was sampled.
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* @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_optical_flow_rad_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, integration_time_us);
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_mav_put_float(buf, 12, integrated_x);
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_mav_put_float(buf, 16, integrated_y);
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_mav_put_float(buf, 20, integrated_xgyro);
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_mav_put_float(buf, 24, integrated_ygyro);
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_mav_put_float(buf, 28, integrated_zgyro);
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_mav_put_uint32_t(buf, 32, time_delta_distance_us);
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_mav_put_float(buf, 36, distance);
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_mav_put_int16_t(buf, 40, temperature);
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_mav_put_uint8_t(buf, 42, sensor_id);
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_mav_put_uint8_t(buf, 43, quality);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#else
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mavlink_optical_flow_rad_t packet;
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packet.time_usec = time_usec;
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packet.integration_time_us = integration_time_us;
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packet.integrated_x = integrated_x;
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packet.integrated_y = integrated_y;
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packet.integrated_xgyro = integrated_xgyro;
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packet.integrated_ygyro = integrated_ygyro;
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packet.integrated_zgyro = integrated_zgyro;
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packet.time_delta_distance_us = time_delta_distance_us;
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packet.distance = distance;
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packet.temperature = temperature;
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packet.sensor_id = sensor_id;
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packet.quality = quality;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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}
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/**
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* @brief Encode a optical_flow_rad struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param optical_flow_rad C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_optical_flow_rad_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_rad_t* optical_flow_rad)
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{
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return mavlink_msg_optical_flow_rad_pack(system_id, component_id, msg, optical_flow_rad->time_usec, optical_flow_rad->sensor_id, optical_flow_rad->integration_time_us, optical_flow_rad->integrated_x, optical_flow_rad->integrated_y, optical_flow_rad->integrated_xgyro, optical_flow_rad->integrated_ygyro, optical_flow_rad->integrated_zgyro, optical_flow_rad->temperature, optical_flow_rad->quality, optical_flow_rad->time_delta_distance_us, optical_flow_rad->distance);
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}
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/**
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* @brief Encode a optical_flow_rad struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param optical_flow_rad C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_optical_flow_rad_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_rad_t* optical_flow_rad)
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{
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return mavlink_msg_optical_flow_rad_pack_chan(system_id, component_id, chan, msg, optical_flow_rad->time_usec, optical_flow_rad->sensor_id, optical_flow_rad->integration_time_us, optical_flow_rad->integrated_x, optical_flow_rad->integrated_y, optical_flow_rad->integrated_xgyro, optical_flow_rad->integrated_ygyro, optical_flow_rad->integrated_zgyro, optical_flow_rad->temperature, optical_flow_rad->quality, optical_flow_rad->time_delta_distance_us, optical_flow_rad->distance);
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}
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/**
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* @brief Send a optical_flow_rad message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param sensor_id Sensor ID
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* @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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* @param integrated_x 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.)
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* @param integrated_y 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.)
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* @param integrated_xgyro RH rotation around X axis (rad)
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* @param integrated_ygyro RH rotation around Y axis (rad)
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* @param integrated_zgyro RH rotation around Z axis (rad)
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* @param temperature Temperature * 100 in centi-degrees Celsius
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* @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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* @param time_delta_distance_us Time in microseconds since the distance was sampled.
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* @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_optical_flow_rad_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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, integration_time_us);
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_mav_put_float(buf, 12, integrated_x);
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_mav_put_float(buf, 16, integrated_y);
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_mav_put_float(buf, 20, integrated_xgyro);
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_mav_put_float(buf, 24, integrated_ygyro);
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_mav_put_float(buf, 28, integrated_zgyro);
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_mav_put_uint32_t(buf, 32, time_delta_distance_us);
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_mav_put_float(buf, 36, distance);
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_mav_put_int16_t(buf, 40, temperature);
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_mav_put_uint8_t(buf, 42, sensor_id);
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_mav_put_uint8_t(buf, 43, quality);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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#else
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mavlink_optical_flow_rad_t packet;
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packet.time_usec = time_usec;
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packet.integration_time_us = integration_time_us;
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packet.integrated_x = integrated_x;
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packet.integrated_y = integrated_y;
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packet.integrated_xgyro = integrated_xgyro;
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packet.integrated_ygyro = integrated_ygyro;
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packet.integrated_zgyro = integrated_zgyro;
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packet.time_delta_distance_us = time_delta_distance_us;
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packet.distance = distance;
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packet.temperature = temperature;
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packet.sensor_id = sensor_id;
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packet.quality = quality;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_optical_flow_rad_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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint32_t(buf, 8, integration_time_us);
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_mav_put_float(buf, 12, integrated_x);
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_mav_put_float(buf, 16, integrated_y);
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_mav_put_float(buf, 20, integrated_xgyro);
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_mav_put_float(buf, 24, integrated_ygyro);
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_mav_put_float(buf, 28, integrated_zgyro);
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_mav_put_uint32_t(buf, 32, time_delta_distance_us);
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_mav_put_float(buf, 36, distance);
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_mav_put_int16_t(buf, 40, temperature);
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_mav_put_uint8_t(buf, 42, sensor_id);
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_mav_put_uint8_t(buf, 43, quality);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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#endif
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#else
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mavlink_optical_flow_rad_t *packet = (mavlink_optical_flow_rad_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->integration_time_us = integration_time_us;
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packet->integrated_x = integrated_x;
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packet->integrated_y = integrated_y;
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packet->integrated_xgyro = integrated_xgyro;
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packet->integrated_ygyro = integrated_ygyro;
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packet->integrated_zgyro = integrated_zgyro;
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packet->time_delta_distance_us = time_delta_distance_us;
|
|
packet->distance = distance;
|
|
packet->temperature = temperature;
|
|
packet->sensor_id = sensor_id;
|
|
packet->quality = quality;
|
|
|
|
#if MAVLINK_CRC_EXTRA
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
|
|
#endif
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE OPTICAL_FLOW_RAD UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from optical_flow_rad message
|
|
*
|
|
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
|
|
*/
|
|
static inline uint64_t mavlink_msg_optical_flow_rad_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field sensor_id from optical_flow_rad message
|
|
*
|
|
* @return Sensor ID
|
|
*/
|
|
static inline uint8_t mavlink_msg_optical_flow_rad_get_sensor_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 42);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integration_time_us from optical_flow_rad message
|
|
*
|
|
* @return Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
|
|
*/
|
|
static inline uint32_t mavlink_msg_optical_flow_rad_get_integration_time_us(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integrated_x from optical_flow_rad message
|
|
*
|
|
* @return 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.)
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_integrated_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integrated_y from optical_flow_rad message
|
|
*
|
|
* @return 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.)
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_integrated_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integrated_xgyro from optical_flow_rad message
|
|
*
|
|
* @return RH rotation around X axis (rad)
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_integrated_xgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integrated_ygyro from optical_flow_rad message
|
|
*
|
|
* @return RH rotation around Y axis (rad)
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_integrated_ygyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field integrated_zgyro from optical_flow_rad message
|
|
*
|
|
* @return RH rotation around Z axis (rad)
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_integrated_zgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field temperature from optical_flow_rad message
|
|
*
|
|
* @return Temperature * 100 in centi-degrees Celsius
|
|
*/
|
|
static inline int16_t mavlink_msg_optical_flow_rad_get_temperature(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field quality from optical_flow_rad message
|
|
*
|
|
* @return Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
|
|
*/
|
|
static inline uint8_t mavlink_msg_optical_flow_rad_get_quality(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 43);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field time_delta_distance_us from optical_flow_rad message
|
|
*
|
|
* @return Time in microseconds since the distance was sampled.
|
|
*/
|
|
static inline uint32_t mavlink_msg_optical_flow_rad_get_time_delta_distance_us(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field distance from optical_flow_rad message
|
|
*
|
|
* @return Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
|
|
*/
|
|
static inline float mavlink_msg_optical_flow_rad_get_distance(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a optical_flow_rad message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param optical_flow_rad C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_optical_flow_rad_decode(const mavlink_message_t* msg, mavlink_optical_flow_rad_t* optical_flow_rad)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
optical_flow_rad->time_usec = mavlink_msg_optical_flow_rad_get_time_usec(msg);
|
|
optical_flow_rad->integration_time_us = mavlink_msg_optical_flow_rad_get_integration_time_us(msg);
|
|
optical_flow_rad->integrated_x = mavlink_msg_optical_flow_rad_get_integrated_x(msg);
|
|
optical_flow_rad->integrated_y = mavlink_msg_optical_flow_rad_get_integrated_y(msg);
|
|
optical_flow_rad->integrated_xgyro = mavlink_msg_optical_flow_rad_get_integrated_xgyro(msg);
|
|
optical_flow_rad->integrated_ygyro = mavlink_msg_optical_flow_rad_get_integrated_ygyro(msg);
|
|
optical_flow_rad->integrated_zgyro = mavlink_msg_optical_flow_rad_get_integrated_zgyro(msg);
|
|
optical_flow_rad->time_delta_distance_us = mavlink_msg_optical_flow_rad_get_time_delta_distance_us(msg);
|
|
optical_flow_rad->distance = mavlink_msg_optical_flow_rad_get_distance(msg);
|
|
optical_flow_rad->temperature = mavlink_msg_optical_flow_rad_get_temperature(msg);
|
|
optical_flow_rad->sensor_id = mavlink_msg_optical_flow_rad_get_sensor_id(msg);
|
|
optical_flow_rad->quality = mavlink_msg_optical_flow_rad_get_quality(msg);
|
|
#else
|
|
memcpy(optical_flow_rad, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
|
|
#endif
|
|
}
|