use mavlink

1 files changed, 377 insertions, 0 deletions

diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_hil_optical_flow.h b/ext/mavlink/include/mavlink/common/mavlink_msg_hil_optical_flow.h
new file mode 100644
index 0000000..eaadf24
--- /dev/null
+++ b/ext/mavlink/include/mavlink/common/mavlink_msg_hil_optical_flow.h
@@ -0,0 +1,377 @@
+// MESSAGE HIL_OPTICAL_FLOW PACKING
+
+#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
+
+typedef struct __mavlink_hil_optical_flow_t
+{
+ uint64_t time_usec; ///< Timestamp (UNIX)
+ float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
+ float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
+ float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ int16_t flow_x; ///< Flow in pixels in x-sensor direction
+ int16_t flow_y; ///< Flow in pixels in y-sensor direction
+ uint8_t sensor_id; ///< Sensor ID
+ uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
+} mavlink_hil_optical_flow_t;
+
+#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 26
+#define MAVLINK_MSG_ID_114_LEN 26
+
+#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 119
+#define MAVLINK_MSG_ID_114_CRC 119
+
+
+
+#define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
+	"HIL_OPTICAL_FLOW", \
+	8, \
+	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
+         { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_x) }, \
+         { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_y) }, \
+         { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, ground_distance) }, \
+         { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_hil_optical_flow_t, flow_x) }, \
+         { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_hil_optical_flow_t, flow_y) }, \
+         { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
+         { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_optical_flow_t, quality) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a hil_optical_flow message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, flow_comp_m_x);
+	_mav_put_float(buf, 12, flow_comp_m_y);
+	_mav_put_float(buf, 16, ground_distance);
+	_mav_put_int16_t(buf, 20, flow_x);
+	_mav_put_int16_t(buf, 22, flow_y);
+	_mav_put_uint8_t(buf, 24, sensor_id);
+	_mav_put_uint8_t(buf, 25, quality);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#else
+	mavlink_hil_optical_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.flow_comp_m_x = flow_comp_m_x;
+	packet.flow_comp_m_y = flow_comp_m_y;
+	packet.ground_distance = ground_distance;
+	packet.flow_x = flow_x;
+	packet.flow_y = flow_y;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
+#if MAVLINK_CRC_EXTRA
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
+#else
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a hil_optical_flow message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, flow_comp_m_x);
+	_mav_put_float(buf, 12, flow_comp_m_y);
+	_mav_put_float(buf, 16, ground_distance);
+	_mav_put_int16_t(buf, 20, flow_x);
+	_mav_put_int16_t(buf, 22, flow_y);
+	_mav_put_uint8_t(buf, 24, sensor_id);
+	_mav_put_uint8_t(buf, 25, quality);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#else
+	mavlink_hil_optical_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.flow_comp_m_x = flow_comp_m_x;
+	packet.flow_comp_m_y = flow_comp_m_y;
+	packet.ground_distance = ground_distance;
+	packet.flow_x = flow_x;
+	packet.flow_y = flow_y;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
+#if MAVLINK_CRC_EXTRA
+    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);
+#else
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a hil_optical_flow struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param hil_optical_flow C-struct to read the message contents from
+ */
+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)
+{
+	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->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance);
+}
+
+/**
+ * @brief Encode a hil_optical_flow struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param hil_optical_flow C-struct to read the message contents from
+ */
+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)
+{
+	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->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance);
+}
+
+/**
+ * @brief Send a hil_optical_flow message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
+ * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_hil_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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, flow_comp_m_x);
+	_mav_put_float(buf, 12, flow_comp_m_y);
+	_mav_put_float(buf, 16, ground_distance);
+	_mav_put_int16_t(buf, 20, flow_x);
+	_mav_put_int16_t(buf, 22, flow_y);
+	_mav_put_uint8_t(buf, 24, sensor_id);
+	_mav_put_uint8_t(buf, 25, quality);
+
+#if MAVLINK_CRC_EXTRA
+    _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);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+#else
+	mavlink_hil_optical_flow_t packet;
+	packet.time_usec = time_usec;
+	packet.flow_comp_m_x = flow_comp_m_x;
+	packet.flow_comp_m_y = flow_comp_m_y;
+	packet.ground_distance = ground_distance;
+	packet.flow_x = flow_x;
+	packet.flow_y = flow_y;
+	packet.sensor_id = sensor_id;
+	packet.quality = quality;
+
+#if MAVLINK_CRC_EXTRA
+    _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);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+#endif
+}
+
+#if MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  is usually the receive buffer for the channel, and allows a reply to an
+  incoming message with minimum stack space usage.
+ */
+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, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char *buf = (char *)msgbuf;
+	_mav_put_uint64_t(buf, 0, time_usec);
+	_mav_put_float(buf, 8, flow_comp_m_x);
+	_mav_put_float(buf, 12, flow_comp_m_y);
+	_mav_put_float(buf, 16, ground_distance);
+	_mav_put_int16_t(buf, 20, flow_x);
+	_mav_put_int16_t(buf, 22, flow_y);
+	_mav_put_uint8_t(buf, 24, sensor_id);
+	_mav_put_uint8_t(buf, 25, quality);
+
+#if MAVLINK_CRC_EXTRA
+    _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);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+#else
+	mavlink_hil_optical_flow_t *packet = (mavlink_hil_optical_flow_t *)msgbuf;
+	packet->time_usec = time_usec;
+	packet->flow_comp_m_x = flow_comp_m_x;
+	packet->flow_comp_m_y = flow_comp_m_y;
+	packet->ground_distance = ground_distance;
+	packet->flow_x = flow_x;
+	packet->flow_y = flow_y;
+	packet->sensor_id = sensor_id;
+	packet->quality = quality;
+
+#if MAVLINK_CRC_EXTRA
+    _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);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE HIL_OPTICAL_FLOW UNPACKING
+
+
+/**
+ * @brief Get field time_usec from hil_optical_flow message
+ *
+ * @return Timestamp (UNIX)
+ */
+static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field sensor_id from hil_optical_flow message
+ *
+ * @return Sensor ID
+ */
+static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  24);
+}
+
+/**
+ * @brief Get field flow_x from hil_optical_flow message
+ *
+ * @return Flow in pixels in x-sensor direction
+ */
+static inline int16_t mavlink_msg_hil_optical_flow_get_flow_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  20);
+}
+
+/**
+ * @brief Get field flow_y from hil_optical_flow message
+ *
+ * @return Flow in pixels in y-sensor direction
+ */
+static inline int16_t mavlink_msg_hil_optical_flow_get_flow_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  22);
+}
+
+/**
+ * @brief Get field flow_comp_m_x from hil_optical_flow message
+ *
+ * @return Flow in meters in x-sensor direction, angular-speed compensated
+ */
+static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field flow_comp_m_y from hil_optical_flow message
+ *
+ * @return Flow in meters in y-sensor direction, angular-speed compensated
+ */
+static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field quality from hil_optical_flow message
+ *
+ * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
+ */
+static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  25);
+}
+
+/**
+ * @brief Get field ground_distance from hil_optical_flow message
+ *
+ * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+ */
+static inline float mavlink_msg_hil_optical_flow_get_ground_distance(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Decode a hil_optical_flow message into a struct
+ *
+ * @param msg The message to decode
+ * @param hil_optical_flow C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
+	hil_optical_flow->flow_comp_m_x = mavlink_msg_hil_optical_flow_get_flow_comp_m_x(msg);
+	hil_optical_flow->flow_comp_m_y = mavlink_msg_hil_optical_flow_get_flow_comp_m_y(msg);
+	hil_optical_flow->ground_distance = mavlink_msg_hil_optical_flow_get_ground_distance(msg);
+	hil_optical_flow->flow_x = mavlink_msg_hil_optical_flow_get_flow_x(msg);
+	hil_optical_flow->flow_y = mavlink_msg_hil_optical_flow_get_flow_y(msg);
+	hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
+	hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
+#else
+	memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
+#endif
+}