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254 lines
8.6 KiB
254 lines
8.6 KiB
// MESSAGE OPTICAL_FLOW PACKING |
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#define MAVLINK_MSG_ID_OPTICAL_FLOW 100 |
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typedef struct __mavlink_optical_flow_t |
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{ |
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uint64_t time; ///< Timestamp (UNIX) |
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uint8_t sensor_id; ///< Sensor ID |
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int16_t flow_x; ///< Flow in pixels in x-sensor direction |
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int16_t flow_y; ///< Flow in pixels in y-sensor direction |
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uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality |
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float ground_distance; ///< Ground distance in meters |
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} mavlink_optical_flow_t; |
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#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18 |
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#define MAVLINK_MSG_ID_100_LEN 18 |
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#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ |
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"OPTICAL_FLOW", \ |
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6, \ |
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{ { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \ |
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{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \ |
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{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \ |
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{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \ |
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{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \ |
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{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \ |
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} \ |
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} |
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/** |
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* @brief Pack a optical_flow 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 Timestamp (UNIX) |
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* @param sensor_id Sensor ID |
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* @param flow_x Flow in pixels in x-sensor direction |
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* @param flow_y Flow in pixels in y-sensor direction |
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* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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* @param ground_distance Ground distance in meters |
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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_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[18]; |
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_mav_put_uint64_t(buf, 0, time); |
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_mav_put_uint8_t(buf, 8, sensor_id); |
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_mav_put_int16_t(buf, 9, flow_x); |
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_mav_put_int16_t(buf, 11, flow_y); |
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_mav_put_uint8_t(buf, 13, quality); |
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_mav_put_float(buf, 14, ground_distance); |
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memcpy(_MAV_PAYLOAD(msg), buf, 18); |
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#else |
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mavlink_optical_flow_t packet; |
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packet.time = time; |
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packet.sensor_id = sensor_id; |
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packet.flow_x = flow_x; |
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packet.flow_y = flow_y; |
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packet.quality = quality; |
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packet.ground_distance = ground_distance; |
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memcpy(_MAV_PAYLOAD(msg), &packet, 18); |
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#endif |
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msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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return mavlink_finalize_message(msg, system_id, component_id, 18); |
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} |
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/** |
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* @brief Pack a optical_flow 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 was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param time Timestamp (UNIX) |
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* @param sensor_id Sensor ID |
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* @param flow_x Flow in pixels in x-sensor direction |
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* @param flow_y Flow in pixels in y-sensor direction |
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* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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* @param ground_distance Ground distance in meters |
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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_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,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[18]; |
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_mav_put_uint64_t(buf, 0, time); |
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_mav_put_uint8_t(buf, 8, sensor_id); |
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_mav_put_int16_t(buf, 9, flow_x); |
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_mav_put_int16_t(buf, 11, flow_y); |
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_mav_put_uint8_t(buf, 13, quality); |
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_mav_put_float(buf, 14, ground_distance); |
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memcpy(_MAV_PAYLOAD(msg), buf, 18); |
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#else |
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mavlink_optical_flow_t packet; |
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packet.time = time; |
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packet.sensor_id = sensor_id; |
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packet.flow_x = flow_x; |
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packet.flow_y = flow_y; |
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packet.quality = quality; |
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packet.ground_distance = ground_distance; |
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memcpy(_MAV_PAYLOAD(msg), &packet, 18); |
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#endif |
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msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18); |
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} |
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/** |
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* @brief Encode a optical_flow struct into a message |
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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 C-struct to read the message contents from |
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*/ |
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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) |
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{ |
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return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance); |
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} |
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/** |
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* @brief Send a optical_flow message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param time Timestamp (UNIX) |
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* @param sensor_id Sensor ID |
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* @param flow_x Flow in pixels in x-sensor direction |
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* @param flow_y Flow in pixels in y-sensor direction |
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* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality |
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* @param ground_distance Ground distance in meters |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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char buf[18]; |
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_mav_put_uint64_t(buf, 0, time); |
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_mav_put_uint8_t(buf, 8, sensor_id); |
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_mav_put_int16_t(buf, 9, flow_x); |
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_mav_put_int16_t(buf, 11, flow_y); |
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_mav_put_uint8_t(buf, 13, quality); |
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_mav_put_float(buf, 14, ground_distance); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18); |
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#else |
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mavlink_optical_flow_t packet; |
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packet.time = time; |
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packet.sensor_id = sensor_id; |
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packet.flow_x = flow_x; |
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packet.flow_y = flow_y; |
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packet.quality = quality; |
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packet.ground_distance = ground_distance; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18); |
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#endif |
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} |
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#endif |
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// MESSAGE OPTICAL_FLOW UNPACKING |
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/** |
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* @brief Get field time from optical_flow message |
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* |
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* @return Timestamp (UNIX) |
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*/ |
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static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint64_t(msg, 0); |
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} |
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/** |
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* @brief Get field sensor_id from optical_flow message |
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* |
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* @return Sensor ID |
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*/ |
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static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint8_t(msg, 8); |
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} |
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/** |
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* @brief Get field flow_x from optical_flow message |
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* |
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* @return Flow in pixels in x-sensor direction |
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*/ |
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static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_int16_t(msg, 9); |
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} |
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/** |
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* @brief Get field flow_y from optical_flow message |
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* |
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* @return Flow in pixels in y-sensor direction |
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*/ |
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static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_int16_t(msg, 11); |
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} |
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/** |
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* @brief Get field quality from optical_flow message |
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* |
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* @return Optical flow quality / confidence. 0: bad, 255: maximum quality |
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*/ |
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static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_uint8_t(msg, 13); |
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} |
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/** |
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* @brief Get field ground_distance from optical_flow message |
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* |
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* @return Ground distance in meters |
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*/ |
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static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) |
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{ |
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return _MAV_RETURN_float(msg, 14); |
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} |
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/** |
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* @brief Decode a optical_flow message into a struct |
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* |
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* @param msg The message to decode |
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* @param optical_flow C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) |
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{ |
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#if MAVLINK_NEED_BYTE_SWAP |
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optical_flow->time = mavlink_msg_optical_flow_get_time(msg); |
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optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); |
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optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); |
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optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); |
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optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); |
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optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); |
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#else |
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memcpy(optical_flow, _MAV_PAYLOAD(msg), 18); |
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#endif |
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}
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