00001
00002
00003 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
00004
00005 typedef struct __mavlink_hil_optical_flow_t
00006 {
00007 uint64_t time_usec;
00008 uint32_t integration_time_us;
00009 float integrated_x;
00010 float integrated_y;
00011 float integrated_xgyro;
00012 float integrated_ygyro;
00013 float integrated_zgyro;
00014 uint32_t time_delta_distance_us;
00015 float distance;
00016 int16_t temperature;
00017 uint8_t sensor_id;
00018 uint8_t quality;
00019 } mavlink_hil_optical_flow_t;
00020
00021 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 44
00022 #define MAVLINK_MSG_ID_114_LEN 44
00023
00024 #define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 237
00025 #define MAVLINK_MSG_ID_114_CRC 237
00026
00027
00028
00029 #define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
00030 "HIL_OPTICAL_FLOW", \
00031 12, \
00032 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
00033 { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_hil_optical_flow_t, integration_time_us) }, \
00034 { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, integrated_x) }, \
00035 { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, integrated_y) }, \
00036 { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_optical_flow_t, integrated_xgyro) }, \
00037 { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_optical_flow_t, integrated_ygyro) }, \
00038 { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_optical_flow_t, integrated_zgyro) }, \
00039 { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_hil_optical_flow_t, time_delta_distance_us) }, \
00040 { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_optical_flow_t, distance) }, \
00041 { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_hil_optical_flow_t, temperature) }, \
00042 { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
00043 { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_hil_optical_flow_t, quality) }, \
00044 } \
00045 }
00046
00047
00068 static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00069 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)
00070 {
00071 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00072 char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
00073 _mav_put_uint64_t(buf, 0, time_usec);
00074 _mav_put_uint32_t(buf, 8, integration_time_us);
00075 _mav_put_float(buf, 12, integrated_x);
00076 _mav_put_float(buf, 16, integrated_y);
00077 _mav_put_float(buf, 20, integrated_xgyro);
00078 _mav_put_float(buf, 24, integrated_ygyro);
00079 _mav_put_float(buf, 28, integrated_zgyro);
00080 _mav_put_uint32_t(buf, 32, time_delta_distance_us);
00081 _mav_put_float(buf, 36, distance);
00082 _mav_put_int16_t(buf, 40, temperature);
00083 _mav_put_uint8_t(buf, 42, sensor_id);
00084 _mav_put_uint8_t(buf, 43, quality);
00085
00086 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00087 #else
00088 mavlink_hil_optical_flow_t packet;
00089 packet.time_usec = time_usec;
00090 packet.integration_time_us = integration_time_us;
00091 packet.integrated_x = integrated_x;
00092 packet.integrated_y = integrated_y;
00093 packet.integrated_xgyro = integrated_xgyro;
00094 packet.integrated_ygyro = integrated_ygyro;
00095 packet.integrated_zgyro = integrated_zgyro;
00096 packet.time_delta_distance_us = time_delta_distance_us;
00097 packet.distance = distance;
00098 packet.temperature = temperature;
00099 packet.sensor_id = sensor_id;
00100 packet.quality = quality;
00101
00102 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00103 #endif
00104
00105 msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
00106 #if MAVLINK_CRC_EXTRA
00107 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00108 #else
00109 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00110 #endif
00111 }
00112
00133 static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00134 mavlink_message_t* msg,
00135 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)
00136 {
00137 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00138 char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
00139 _mav_put_uint64_t(buf, 0, time_usec);
00140 _mav_put_uint32_t(buf, 8, integration_time_us);
00141 _mav_put_float(buf, 12, integrated_x);
00142 _mav_put_float(buf, 16, integrated_y);
00143 _mav_put_float(buf, 20, integrated_xgyro);
00144 _mav_put_float(buf, 24, integrated_ygyro);
00145 _mav_put_float(buf, 28, integrated_zgyro);
00146 _mav_put_uint32_t(buf, 32, time_delta_distance_us);
00147 _mav_put_float(buf, 36, distance);
00148 _mav_put_int16_t(buf, 40, temperature);
00149 _mav_put_uint8_t(buf, 42, sensor_id);
00150 _mav_put_uint8_t(buf, 43, quality);
00151
00152 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00153 #else
00154 mavlink_hil_optical_flow_t packet;
00155 packet.time_usec = time_usec;
00156 packet.integration_time_us = integration_time_us;
00157 packet.integrated_x = integrated_x;
00158 packet.integrated_y = integrated_y;
00159 packet.integrated_xgyro = integrated_xgyro;
00160 packet.integrated_ygyro = integrated_ygyro;
00161 packet.integrated_zgyro = integrated_zgyro;
00162 packet.time_delta_distance_us = time_delta_distance_us;
00163 packet.distance = distance;
00164 packet.temperature = temperature;
00165 packet.sensor_id = sensor_id;
00166 packet.quality = quality;
00167
00168 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00169 #endif
00170
00171 msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
00172 #if MAVLINK_CRC_EXTRA
00173 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00174 #else
00175 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00176 #endif
00177 }
00178
00187 static inline uint16_t mavlink_msg_hil_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
00188 {
00189 return mavlink_msg_hil_optical_flow_pack(system_id, component_id, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->integration_time_us, hil_optical_flow->integrated_x, hil_optical_flow->integrated_y, hil_optical_flow->integrated_xgyro, hil_optical_flow->integrated_ygyro, hil_optical_flow->integrated_zgyro, hil_optical_flow->temperature, hil_optical_flow->quality, hil_optical_flow->time_delta_distance_us, hil_optical_flow->distance);
00190 }
00191
00201 static inline uint16_t mavlink_msg_hil_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
00202 {
00203 return mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, chan, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->integration_time_us, hil_optical_flow->integrated_x, hil_optical_flow->integrated_y, hil_optical_flow->integrated_xgyro, hil_optical_flow->integrated_ygyro, hil_optical_flow->integrated_zgyro, hil_optical_flow->temperature, hil_optical_flow->quality, hil_optical_flow->time_delta_distance_us, hil_optical_flow->distance);
00204 }
00205
00223 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00224
00225 static inline void mavlink_msg_hil_optical_flow_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)
00226 {
00227 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00228 char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
00229 _mav_put_uint64_t(buf, 0, time_usec);
00230 _mav_put_uint32_t(buf, 8, integration_time_us);
00231 _mav_put_float(buf, 12, integrated_x);
00232 _mav_put_float(buf, 16, integrated_y);
00233 _mav_put_float(buf, 20, integrated_xgyro);
00234 _mav_put_float(buf, 24, integrated_ygyro);
00235 _mav_put_float(buf, 28, integrated_zgyro);
00236 _mav_put_uint32_t(buf, 32, time_delta_distance_us);
00237 _mav_put_float(buf, 36, distance);
00238 _mav_put_int16_t(buf, 40, temperature);
00239 _mav_put_uint8_t(buf, 42, sensor_id);
00240 _mav_put_uint8_t(buf, 43, quality);
00241
00242 #if MAVLINK_CRC_EXTRA
00243 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00244 #else
00245 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00246 #endif
00247 #else
00248 mavlink_hil_optical_flow_t packet;
00249 packet.time_usec = time_usec;
00250 packet.integration_time_us = integration_time_us;
00251 packet.integrated_x = integrated_x;
00252 packet.integrated_y = integrated_y;
00253 packet.integrated_xgyro = integrated_xgyro;
00254 packet.integrated_ygyro = integrated_ygyro;
00255 packet.integrated_zgyro = integrated_zgyro;
00256 packet.time_delta_distance_us = time_delta_distance_us;
00257 packet.distance = distance;
00258 packet.temperature = temperature;
00259 packet.sensor_id = sensor_id;
00260 packet.quality = quality;
00261
00262 #if MAVLINK_CRC_EXTRA
00263 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00264 #else
00265 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00266 #endif
00267 #endif
00268 }
00269
00270 #if MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00271
00272
00273
00274
00275
00276
00277
00278 static inline void mavlink_msg_hil_optical_flow_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)
00279 {
00280 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00281 char *buf = (char *)msgbuf;
00282 _mav_put_uint64_t(buf, 0, time_usec);
00283 _mav_put_uint32_t(buf, 8, integration_time_us);
00284 _mav_put_float(buf, 12, integrated_x);
00285 _mav_put_float(buf, 16, integrated_y);
00286 _mav_put_float(buf, 20, integrated_xgyro);
00287 _mav_put_float(buf, 24, integrated_ygyro);
00288 _mav_put_float(buf, 28, integrated_zgyro);
00289 _mav_put_uint32_t(buf, 32, time_delta_distance_us);
00290 _mav_put_float(buf, 36, distance);
00291 _mav_put_int16_t(buf, 40, temperature);
00292 _mav_put_uint8_t(buf, 42, sensor_id);
00293 _mav_put_uint8_t(buf, 43, quality);
00294
00295 #if MAVLINK_CRC_EXTRA
00296 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00297 #else
00298 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00299 #endif
00300 #else
00301 mavlink_hil_optical_flow_t *packet = (mavlink_hil_optical_flow_t *)msgbuf;
00302 packet->time_usec = time_usec;
00303 packet->integration_time_us = integration_time_us;
00304 packet->integrated_x = integrated_x;
00305 packet->integrated_y = integrated_y;
00306 packet->integrated_xgyro = integrated_xgyro;
00307 packet->integrated_ygyro = integrated_ygyro;
00308 packet->integrated_zgyro = integrated_zgyro;
00309 packet->time_delta_distance_us = time_delta_distance_us;
00310 packet->distance = distance;
00311 packet->temperature = temperature;
00312 packet->sensor_id = sensor_id;
00313 packet->quality = quality;
00314
00315 #if MAVLINK_CRC_EXTRA
00316 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
00317 #else
00318 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00319 #endif
00320 #endif
00321 }
00322 #endif
00323
00324 #endif
00325
00326
00327
00328
00334 static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
00335 {
00336 return _MAV_RETURN_uint64_t(msg, 0);
00337 }
00338
00344 static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
00345 {
00346 return _MAV_RETURN_uint8_t(msg, 42);
00347 }
00348
00354 static inline uint32_t mavlink_msg_hil_optical_flow_get_integration_time_us(const mavlink_message_t* msg)
00355 {
00356 return _MAV_RETURN_uint32_t(msg, 8);
00357 }
00358
00364 static inline float mavlink_msg_hil_optical_flow_get_integrated_x(const mavlink_message_t* msg)
00365 {
00366 return _MAV_RETURN_float(msg, 12);
00367 }
00368
00374 static inline float mavlink_msg_hil_optical_flow_get_integrated_y(const mavlink_message_t* msg)
00375 {
00376 return _MAV_RETURN_float(msg, 16);
00377 }
00378
00384 static inline float mavlink_msg_hil_optical_flow_get_integrated_xgyro(const mavlink_message_t* msg)
00385 {
00386 return _MAV_RETURN_float(msg, 20);
00387 }
00388
00394 static inline float mavlink_msg_hil_optical_flow_get_integrated_ygyro(const mavlink_message_t* msg)
00395 {
00396 return _MAV_RETURN_float(msg, 24);
00397 }
00398
00404 static inline float mavlink_msg_hil_optical_flow_get_integrated_zgyro(const mavlink_message_t* msg)
00405 {
00406 return _MAV_RETURN_float(msg, 28);
00407 }
00408
00414 static inline int16_t mavlink_msg_hil_optical_flow_get_temperature(const mavlink_message_t* msg)
00415 {
00416 return _MAV_RETURN_int16_t(msg, 40);
00417 }
00418
00424 static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
00425 {
00426 return _MAV_RETURN_uint8_t(msg, 43);
00427 }
00428
00434 static inline uint32_t mavlink_msg_hil_optical_flow_get_time_delta_distance_us(const mavlink_message_t* msg)
00435 {
00436 return _MAV_RETURN_uint32_t(msg, 32);
00437 }
00438
00444 static inline float mavlink_msg_hil_optical_flow_get_distance(const mavlink_message_t* msg)
00445 {
00446 return _MAV_RETURN_float(msg, 36);
00447 }
00448
00455 static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
00456 {
00457 #if MAVLINK_NEED_BYTE_SWAP
00458 hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
00459 hil_optical_flow->integration_time_us = mavlink_msg_hil_optical_flow_get_integration_time_us(msg);
00460 hil_optical_flow->integrated_x = mavlink_msg_hil_optical_flow_get_integrated_x(msg);
00461 hil_optical_flow->integrated_y = mavlink_msg_hil_optical_flow_get_integrated_y(msg);
00462 hil_optical_flow->integrated_xgyro = mavlink_msg_hil_optical_flow_get_integrated_xgyro(msg);
00463 hil_optical_flow->integrated_ygyro = mavlink_msg_hil_optical_flow_get_integrated_ygyro(msg);
00464 hil_optical_flow->integrated_zgyro = mavlink_msg_hil_optical_flow_get_integrated_zgyro(msg);
00465 hil_optical_flow->time_delta_distance_us = mavlink_msg_hil_optical_flow_get_time_delta_distance_us(msg);
00466 hil_optical_flow->distance = mavlink_msg_hil_optical_flow_get_distance(msg);
00467 hil_optical_flow->temperature = mavlink_msg_hil_optical_flow_get_temperature(msg);
00468 hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
00469 hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
00470 #else
00471 memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
00472 #endif
00473 }