00001
00002
00003 #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
00004
00005 typedef struct __mavlink_optical_flow_t
00006 {
00007 uint64_t time_usec;
00008 float flow_comp_m_x;
00009 float flow_comp_m_y;
00010 float ground_distance;
00011 int16_t flow_x;
00012 int16_t flow_y;
00013 uint8_t sensor_id;
00014 uint8_t quality;
00015 } mavlink_optical_flow_t;
00016
00017 #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
00018 #define MAVLINK_MSG_ID_100_LEN 26
00019
00020 #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
00021 #define MAVLINK_MSG_ID_100_CRC 175
00022
00023
00024
00025 #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
00026 "OPTICAL_FLOW", \
00027 8, \
00028 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
00029 { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
00030 { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
00031 { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
00032 { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
00033 { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
00034 { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
00035 { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
00036 } \
00037 }
00038
00039
00056 static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00057 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)
00058 {
00059 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00060 char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
00061 _mav_put_uint64_t(buf, 0, time_usec);
00062 _mav_put_float(buf, 8, flow_comp_m_x);
00063 _mav_put_float(buf, 12, flow_comp_m_y);
00064 _mav_put_float(buf, 16, ground_distance);
00065 _mav_put_int16_t(buf, 20, flow_x);
00066 _mav_put_int16_t(buf, 22, flow_y);
00067 _mav_put_uint8_t(buf, 24, sensor_id);
00068 _mav_put_uint8_t(buf, 25, quality);
00069
00070 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00071 #else
00072 mavlink_optical_flow_t packet;
00073 packet.time_usec = time_usec;
00074 packet.flow_comp_m_x = flow_comp_m_x;
00075 packet.flow_comp_m_y = flow_comp_m_y;
00076 packet.ground_distance = ground_distance;
00077 packet.flow_x = flow_x;
00078 packet.flow_y = flow_y;
00079 packet.sensor_id = sensor_id;
00080 packet.quality = quality;
00081
00082 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00083 #endif
00084
00085 msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
00086 #if MAVLINK_CRC_EXTRA
00087 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
00088 #else
00089 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00090 #endif
00091 }
00092
00109 static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00110 mavlink_message_t* msg,
00111 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)
00112 {
00113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00114 char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
00115 _mav_put_uint64_t(buf, 0, time_usec);
00116 _mav_put_float(buf, 8, flow_comp_m_x);
00117 _mav_put_float(buf, 12, flow_comp_m_y);
00118 _mav_put_float(buf, 16, ground_distance);
00119 _mav_put_int16_t(buf, 20, flow_x);
00120 _mav_put_int16_t(buf, 22, flow_y);
00121 _mav_put_uint8_t(buf, 24, sensor_id);
00122 _mav_put_uint8_t(buf, 25, quality);
00123
00124 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00125 #else
00126 mavlink_optical_flow_t packet;
00127 packet.time_usec = time_usec;
00128 packet.flow_comp_m_x = flow_comp_m_x;
00129 packet.flow_comp_m_y = flow_comp_m_y;
00130 packet.ground_distance = ground_distance;
00131 packet.flow_x = flow_x;
00132 packet.flow_y = flow_y;
00133 packet.sensor_id = sensor_id;
00134 packet.quality = quality;
00135
00136 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00137 #endif
00138
00139 msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
00140 #if MAVLINK_CRC_EXTRA
00141 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
00142 #else
00143 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00144 #endif
00145 }
00146
00155 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)
00156 {
00157 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);
00158 }
00159
00169 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)
00170 {
00171 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);
00172 }
00173
00187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00188
00189 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)
00190 {
00191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00192 char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
00193 _mav_put_uint64_t(buf, 0, time_usec);
00194 _mav_put_float(buf, 8, flow_comp_m_x);
00195 _mav_put_float(buf, 12, flow_comp_m_y);
00196 _mav_put_float(buf, 16, ground_distance);
00197 _mav_put_int16_t(buf, 20, flow_x);
00198 _mav_put_int16_t(buf, 22, flow_y);
00199 _mav_put_uint8_t(buf, 24, sensor_id);
00200 _mav_put_uint8_t(buf, 25, quality);
00201
00202 #if MAVLINK_CRC_EXTRA
00203 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
00204 #else
00205 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00206 #endif
00207 #else
00208 mavlink_optical_flow_t packet;
00209 packet.time_usec = time_usec;
00210 packet.flow_comp_m_x = flow_comp_m_x;
00211 packet.flow_comp_m_y = flow_comp_m_y;
00212 packet.ground_distance = ground_distance;
00213 packet.flow_x = flow_x;
00214 packet.flow_y = flow_y;
00215 packet.sensor_id = sensor_id;
00216 packet.quality = quality;
00217
00218 #if MAVLINK_CRC_EXTRA
00219 _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);
00220 #else
00221 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00222 #endif
00223 #endif
00224 }
00225
00226 #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00227
00228
00229
00230
00231
00232
00233
00234 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)
00235 {
00236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00237 char *buf = (char *)msgbuf;
00238 _mav_put_uint64_t(buf, 0, time_usec);
00239 _mav_put_float(buf, 8, flow_comp_m_x);
00240 _mav_put_float(buf, 12, flow_comp_m_y);
00241 _mav_put_float(buf, 16, ground_distance);
00242 _mav_put_int16_t(buf, 20, flow_x);
00243 _mav_put_int16_t(buf, 22, flow_y);
00244 _mav_put_uint8_t(buf, 24, sensor_id);
00245 _mav_put_uint8_t(buf, 25, quality);
00246
00247 #if MAVLINK_CRC_EXTRA
00248 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
00249 #else
00250 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00251 #endif
00252 #else
00253 mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
00254 packet->time_usec = time_usec;
00255 packet->flow_comp_m_x = flow_comp_m_x;
00256 packet->flow_comp_m_y = flow_comp_m_y;
00257 packet->ground_distance = ground_distance;
00258 packet->flow_x = flow_x;
00259 packet->flow_y = flow_y;
00260 packet->sensor_id = sensor_id;
00261 packet->quality = quality;
00262
00263 #if MAVLINK_CRC_EXTRA
00264 _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);
00265 #else
00266 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00267 #endif
00268 #endif
00269 }
00270 #endif
00271
00272 #endif
00273
00274
00275
00276
00282 static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
00283 {
00284 return _MAV_RETURN_uint64_t(msg, 0);
00285 }
00286
00292 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
00293 {
00294 return _MAV_RETURN_uint8_t(msg, 24);
00295 }
00296
00302 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
00303 {
00304 return _MAV_RETURN_int16_t(msg, 20);
00305 }
00306
00312 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
00313 {
00314 return _MAV_RETURN_int16_t(msg, 22);
00315 }
00316
00322 static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
00323 {
00324 return _MAV_RETURN_float(msg, 8);
00325 }
00326
00332 static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
00333 {
00334 return _MAV_RETURN_float(msg, 12);
00335 }
00336
00342 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
00343 {
00344 return _MAV_RETURN_uint8_t(msg, 25);
00345 }
00346
00352 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
00353 {
00354 return _MAV_RETURN_float(msg, 16);
00355 }
00356
00363 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
00364 {
00365 #if MAVLINK_NEED_BYTE_SWAP
00366 optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
00367 optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
00368 optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
00369 optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
00370 optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
00371 optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
00372 optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
00373 optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
00374 #else
00375 memcpy(optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
00376 #endif
00377 }