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299 lines
12 KiB
C
299 lines
12 KiB
C
// 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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uint64_t time_usec; ///< Timestamp (UNIX)
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float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
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float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
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float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
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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 sensor_id; ///< Sensor ID
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uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
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} mavlink_optical_flow_t;
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#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
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#define MAVLINK_MSG_ID_100_LEN 26
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#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW \
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{ \
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"OPTICAL_FLOW", \
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8, \
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{ \
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{ "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
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{ "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
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{ "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
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{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
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{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
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{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
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{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
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{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
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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_usec 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 flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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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. Positive value: 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_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, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_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[26];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, flow_comp_m_x);
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_mav_put_float(buf, 12, flow_comp_m_y);
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_mav_put_float(buf, 16, ground_distance);
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_mav_put_int16_t(buf, 20, flow_x);
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_mav_put_int16_t(buf, 22, flow_y);
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_mav_put_uint8_t(buf, 24, sensor_id);
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_mav_put_uint8_t(buf, 25, quality);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
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mavlink_optical_flow_t packet;
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packet.time_usec = time_usec;
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packet.flow_comp_m_x = flow_comp_m_x;
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packet.flow_comp_m_y = flow_comp_m_y;
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packet.ground_distance = ground_distance;
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packet.flow_x = flow_x;
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packet.flow_y = flow_y;
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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, 26);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
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return mavlink_finalize_message(msg, system_id, component_id, 26, 175);
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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_usec 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 flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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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. Positive value: 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_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, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_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[26];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, flow_comp_m_x);
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_mav_put_float(buf, 12, flow_comp_m_y);
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_mav_put_float(buf, 16, ground_distance);
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_mav_put_int16_t(buf, 20, flow_x);
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_mav_put_int16_t(buf, 22, flow_y);
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_mav_put_uint8_t(buf, 24, sensor_id);
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_mav_put_uint8_t(buf, 25, quality);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
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mavlink_optical_flow_t packet;
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packet.time_usec = time_usec;
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packet.flow_comp_m_x = flow_comp_m_x;
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packet.flow_comp_m_y = flow_comp_m_y;
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packet.ground_distance = ground_distance;
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packet.flow_x = flow_x;
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packet.flow_y = flow_y;
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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, 26);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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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, 26, 175);
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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_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);
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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_usec 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 flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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* @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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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. Positive value: 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_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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, flow_comp_m_x);
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_mav_put_float(buf, 12, flow_comp_m_y);
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_mav_put_float(buf, 16, ground_distance);
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_mav_put_int16_t(buf, 20, flow_x);
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_mav_put_int16_t(buf, 22, flow_y);
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_mav_put_uint8_t(buf, 24, sensor_id);
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_mav_put_uint8_t(buf, 25, quality);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 26, 175);
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#else
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mavlink_optical_flow_t packet;
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packet.time_usec = time_usec;
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packet.flow_comp_m_x = flow_comp_m_x;
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packet.flow_comp_m_y = flow_comp_m_y;
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packet.ground_distance = ground_distance;
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packet.flow_x = flow_x;
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packet.flow_y = flow_y;
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packet.sensor_id = sensor_id;
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packet.quality = quality;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 26, 175);
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#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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}
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#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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// MESSAGE OPTICAL_FLOW UNPACKING
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/**
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* @brief Get field time_usec 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_usec(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, 24);
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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, 20);
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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, 22);
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}
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/**
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* @brief Get field flow_comp_m_x from optical_flow message
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*
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* @return Flow in meters in x-sensor direction, angular-speed compensated
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*/
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static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field flow_comp_m_y from optical_flow message
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*
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* @return Flow in meters in y-sensor direction, angular-speed compensated
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*/
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static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t *msg)
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{
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return _MAV_RETURN_float(msg, 12);
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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, 25);
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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. Positive value: distance known. Negative value: Unknown distance
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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, 16);
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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_usec = mavlink_msg_optical_flow_get_time_usec(msg);
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optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
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optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
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optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(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->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
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optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
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#else
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memcpy(optical_flow, _MAV_PAYLOAD(msg), 26);
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#endif
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}
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